Allow Rigid*ContactsState to accept kwargs

[flferretti]

This fixes a regression introduced from a suggestion I made in #245. When the zero-ed ODEState is created in

jaxsim/src/jaxsim/api/ode_data.py

Lines 250 to 252 in a4d1476

	model_state = ODEState.build(
	model=model, contact=data.state.contact.zero(model=model)
	)

this raises an error in rigid contact models:

TypeError: RelaxedRigidContactsState.zero() got an unexpected keyword argument 'model'

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📚 Documentation preview 📚: https://jaxsim--246.org.readthedocs.build//246/

[diegoferigo]

Thanks @flferretti for spotting this regression!