diff --git a/src/jaxsim/api/common.py b/src/jaxsim/api/common.py
index 22457a03e..260bd9323 100644
--- a/src/jaxsim/api/common.py
+++ b/src/jaxsim/api/common.py
@@ -3,6 +3,7 @@
 import dataclasses
 import enum
 import functools
+from collections.abc import Iterator
 
 import jax
 import jax.numpy as jnp
@@ -43,7 +44,7 @@ class ModelDataWithVelocityRepresentation(JaxsimDataclass, abc.ABC):
     @contextlib.contextmanager
     def switch_velocity_representation(
         self, velocity_representation: VelRepr
-    ) -> contextlib.AbstractContextManager[Self]:
+    ) -> Iterator[Self]:
         """
         Context manager to temporarily switch the velocity representation.