diff --git a/src/jaxsim/api/data.py b/src/jaxsim/api/data.py
index 4f78b08c4..1ef55158b 100644
--- a/src/jaxsim/api/data.py
+++ b/src/jaxsim/api/data.py
@@ -389,7 +389,7 @@ def base_orientation(self, dcm: jtp.BoolLike = False) -> jtp.Vector | jtp.Matrix
         ).astype(float)
 
     @jax.jit
-    def base_transform(self) -> jtp.MatrixJax:
+    def base_transform(self) -> jtp.Matrix:
         """
         Get the base transform.
 
diff --git a/src/jaxsim/api/model.py b/src/jaxsim/api/model.py
index c8fb6ae17..d7506d712 100644
--- a/src/jaxsim/api/model.py
+++ b/src/jaxsim/api/model.py
@@ -1610,7 +1610,7 @@ def other_representation_to_inertial(
     # not remove gravity during the propagation.
 
     # Initialize the loop.
-    Carry = tuple[jtp.MatrixJax, jtp.MatrixJax]
+    Carry = tuple[jtp.Matrix, jtp.Matrix]
     carry0: Carry = (L_v_WL, L_v̇_WL)
 
     def propagate_accelerations(carry: Carry, i: jtp.Int) -> tuple[Carry, None]:
diff --git a/src/jaxsim/api/ode_data.py b/src/jaxsim/api/ode_data.py
index 950310399..766f7f926 100644
--- a/src/jaxsim/api/ode_data.py
+++ b/src/jaxsim/api/ode_data.py
@@ -31,8 +31,8 @@ class ODEInput(JaxsimDataclass):
     @staticmethod
     def build_from_jaxsim_model(
         model: js.model.JaxSimModel | None = None,
-        joint_forces: jtp.VectorJax | None = None,
-        link_forces: jtp.MatrixJax | None = None,
+        joint_forces: jtp.VectorLike | None = None,
+        link_forces: jtp.MatrixLike | None = None,
     ) -> ODEInput:
         """
         Build an `ODEInput` from a `JaxSimModel`.
@@ -501,14 +501,14 @@ class PhysicsModelInput(JaxsimDataclass):
         f_ext: The matrix of external forces applied to the links.
     """
 
-    tau: jtp.VectorJax
-    f_ext: jtp.MatrixJax
+    tau: jtp.Vector
+    f_ext: jtp.Matrix
 
     @staticmethod
     def build_from_jaxsim_model(
         model: js.model.JaxSimModel | None = None,
-        joint_forces: jtp.VectorJax | None = None,
-        link_forces: jtp.MatrixJax | None = None,
+        joint_forces: jtp.VectorLike | None = None,
+        link_forces: jtp.MatrixLike | None = None,
     ) -> PhysicsModelInput:
         """
         Build a `PhysicsModelInput` from a `JaxSimModel`.
@@ -535,8 +535,8 @@ def build_from_jaxsim_model(
 
     @staticmethod
     def build(
-        joint_forces: jtp.VectorJax | None = None,
-        link_forces: jtp.MatrixJax | None = None,
+        joint_forces: jtp.VectorLike | None = None,
+        link_forces: jtp.MatrixLike | None = None,
         number_of_dofs: jtp.Int | None = None,
         number_of_links: jtp.Int | None = None,
     ) -> PhysicsModelInput:
diff --git a/src/jaxsim/integrators/common.py b/src/jaxsim/integrators/common.py
index 03dde9262..8ace25c7d 100644
--- a/src/jaxsim/integrators/common.py
+++ b/src/jaxsim/integrators/common.py
@@ -28,8 +28,8 @@
 # Generic types
 # =============
 
-Time = jtp.Float
-TimeStep = jtp.Float
+Time = jtp.FloatLike
+TimeStep = jtp.FloatLike
 State = NextState = TypeVar("State")
 StateDerivative = TypeVar("StateDerivative")
 PyTreeType = TypeVar("PyTreeType", bound=jtp.PyTree)
diff --git a/src/jaxsim/rbda/aba.py b/src/jaxsim/rbda/aba.py
index b98685f32..1e8a9c510 100644
--- a/src/jaxsim/rbda/aba.py
+++ b/src/jaxsim/rbda/aba.py
@@ -121,10 +121,7 @@ def aba(
     # Pass 1
     # ======
 
-    Pass1Carry = tuple[
-        jtp.MatrixJax, jtp.MatrixJax, jtp.MatrixJax, jtp.MatrixJax, jtp.MatrixJax
-    ]
-
+    Pass1Carry = tuple[jtp.Matrix, jtp.Matrix, jtp.Matrix, jtp.Matrix, jtp.Matrix]
     pass_1_carry: Pass1Carry = (v, c, MA, pA, i_X_0)
 
     # Propagate kinematics and initialize AB inertia and AB bias forces.
@@ -178,10 +175,7 @@ def loop_body_pass1(carry: Pass1Carry, i: jtp.Int) -> tuple[Pass1Carry, None]:
     d = jnp.zeros(shape=(model.number_of_links(), 1))
     u = jnp.zeros(shape=(model.number_of_links(), 1))
 
-    Pass2Carry = tuple[
-        jtp.MatrixJax, jtp.MatrixJax, jtp.MatrixJax, jtp.MatrixJax, jtp.MatrixJax
-    ]
-
+    Pass2Carry = tuple[jtp.Matrix, jtp.Matrix, jtp.Matrix, jtp.Matrix, jtp.Matrix]
     pass_2_carry: Pass2Carry = (U, d, u, MA, pA)
 
     def loop_body_pass2(carry: Pass2Carry, i: jtp.Int) -> tuple[Pass2Carry, None]:
@@ -204,8 +198,8 @@ def loop_body_pass2(carry: Pass2Carry, i: jtp.Int) -> tuple[Pass2Carry, None]:
 
         # Propagate them to the parent, handling the base link.
         def propagate(
-            MA_pA: tuple[jtp.MatrixJax, jtp.MatrixJax]
-        ) -> tuple[jtp.MatrixJax, jtp.MatrixJax]:
+            MA_pA: tuple[jtp.Matrix, jtp.Matrix]
+        ) -> tuple[jtp.Matrix, jtp.Matrix]:
 
             MA, pA = MA_pA
 
@@ -248,7 +242,7 @@ def propagate(
     s̈ = jnp.zeros_like(s)
     a = jnp.zeros_like(v).at[0].set(a0)
 
-    Pass3Carry = tuple[jtp.MatrixJax, jtp.VectorJax]
+    Pass3Carry = tuple[jtp.Matrix, jtp.Vector]
     pass_3_carry = (a, s̈)
 
     def loop_body_pass3(carry: Pass3Carry, i: jtp.Int) -> tuple[Pass3Carry, None]:
diff --git a/src/jaxsim/rbda/collidable_points.py b/src/jaxsim/rbda/collidable_points.py
index 20f8e8701..4e6800782 100644
--- a/src/jaxsim/rbda/collidable_points.py
+++ b/src/jaxsim/rbda/collidable_points.py
@@ -80,7 +80,7 @@ def collidable_points_pos_vel(
     # Propagate kinematics
     # ====================
 
-    PropagateTransformsCarry = tuple[jtp.MatrixJax, jtp.Matrix]
+    PropagateTransformsCarry = tuple[jtp.Matrix, jtp.Matrix]
     propagate_transforms_carry: PropagateTransformsCarry = (W_X_i, W_v_Wi)
 
     def propagate_kinematics(
@@ -118,8 +118,9 @@ def propagate_kinematics(
     # ==================================================
 
     def process_point_kinematics(
-        Li_p_C: jtp.VectorJax, parent_body: jtp.Int
-    ) -> tuple[jtp.VectorJax, jtp.VectorJax]:
+        Li_p_C: jtp.Vector, parent_body: jtp.Int
+    ) -> tuple[jtp.Vector, jtp.Vector]:
+
         # Compute the position of the collidable point.
         W_p_Ci = (
             Adjoint.to_transform(adjoint=W_X_i[parent_body]) @ jnp.hstack([Li_p_C, 1])
diff --git a/src/jaxsim/rbda/crba.py b/src/jaxsim/rbda/crba.py
index 27ee83042..904048832 100644
--- a/src/jaxsim/rbda/crba.py
+++ b/src/jaxsim/rbda/crba.py
@@ -45,7 +45,7 @@ def crba(model: js.model.JaxSimModel, *, joint_positions: jtp.Vector) -> jtp.Mat
     # Propagate kinematics
     # ====================
 
-    ForwardPassCarry = tuple[jtp.MatrixJax]
+    ForwardPassCarry = tuple[jtp.Matrix]
     forward_pass_carry: ForwardPassCarry = (i_X_0,)
 
     def propagate_kinematics(
@@ -71,7 +71,7 @@ def propagate_kinematics(
 
     M = jnp.zeros(shape=(6 + model.dofs(), 6 + model.dofs()))
 
-    BackwardPassCarry = tuple[jtp.MatrixJax, jtp.MatrixJax]
+    BackwardPassCarry = tuple[jtp.Matrix, jtp.Matrix]
     backward_pass_carry: BackwardPassCarry = (Mc, M)
 
     def backward_pass(
@@ -90,7 +90,7 @@ def backward_pass(
 
         j = i
 
-        CarryInnerFn = tuple[jtp.Int, jtp.MatrixJax, jtp.MatrixJax]
+        CarryInnerFn = tuple[jtp.Int, jtp.Matrix, jtp.Matrix]
         carry_inner_fn = (j, Fi, M)
 
         def while_loop_body(carry: CarryInnerFn) -> CarryInnerFn:
diff --git a/src/jaxsim/rbda/forward_kinematics.py b/src/jaxsim/rbda/forward_kinematics.py
index 8bcab038a..cdfbc35a3 100644
--- a/src/jaxsim/rbda/forward_kinematics.py
+++ b/src/jaxsim/rbda/forward_kinematics.py
@@ -61,7 +61,7 @@ def forward_kinematics_model(
     # Propagate the kinematics
     # ========================
 
-    PropagateKinematicsCarry = tuple[jtp.MatrixJax]
+    PropagateKinematicsCarry = tuple[jtp.Matrix]
     propagate_kinematics_carry: PropagateKinematicsCarry = (W_X_i,)
 
     def propagate_kinematics(
diff --git a/src/jaxsim/rbda/jacobian.py b/src/jaxsim/rbda/jacobian.py
index a595c7360..197a45ee2 100644
--- a/src/jaxsim/rbda/jacobian.py
+++ b/src/jaxsim/rbda/jacobian.py
@@ -50,7 +50,7 @@ def jacobian(
     # Propagate kinematics
     # ====================
 
-    PropagateKinematicsCarry = tuple[jtp.MatrixJax]
+    PropagateKinematicsCarry = tuple[jtp.Matrix]
     propagate_kinematics_carry: PropagateKinematicsCarry = (i_X_0,)
 
     def propagate_kinematics(
@@ -86,9 +86,9 @@ def propagate_kinematics(
     # Checking if j ∈ κ(i) is equivalent to: κ_bool(j) is True.
     κ_bool = model.kin_dyn_parameters.support_body_array_bool[link_index]
 
-    def compute_jacobian(J: jtp.MatrixJax, i: jtp.Int) -> tuple[jtp.MatrixJax, None]:
+    def compute_jacobian(J: jtp.Matrix, i: jtp.Int) -> tuple[jtp.Matrix, None]:
 
-        def update_jacobian(J: jtp.MatrixJax, i: jtp.Int) -> jtp.MatrixJax:
+        def update_jacobian(J: jtp.Matrix, i: jtp.Int) -> jtp.Matrix:
 
             ii = i - 1
 
@@ -164,7 +164,7 @@ def jacobian_full_doubly_left(
     J = jnp.zeros(shape=(6, 6 + model.dofs()))
     J = J.at[0:6, 0:6].set(jnp.eye(6))
 
-    ComputeFullJacobianCarry = tuple[jtp.MatrixJax, jtp.MatrixJax]
+    ComputeFullJacobianCarry = tuple[jtp.Matrix, jtp.Matrix]
     compute_full_jacobian_carry: ComputeFullJacobianCarry = (B_X_i, J)
 
     def compute_full_jacobian(
@@ -261,7 +261,7 @@ def A_Ẋ_B(A_X_B: jtp.Matrix, B_v_AB: jtp.Vector) -> jtp.Matrix:
     J̇ = jnp.zeros(shape=(6, 6 + model.dofs()))
 
     ComputeFullJacobianDerivativeCarry = tuple[
-        jtp.MatrixJax, jtp.MatrixJax, jtp.MatrixJax, jtp.MatrixJax
+        jtp.Matrix, jtp.Matrix, jtp.Matrix, jtp.Matrix
     ]
 
     compute_full_jacobian_derivative_carry: ComputeFullJacobianDerivativeCarry = (
diff --git a/src/jaxsim/rbda/rnea.py b/src/jaxsim/rbda/rnea.py
index b5f927d1e..625f8fede 100644
--- a/src/jaxsim/rbda/rnea.py
+++ b/src/jaxsim/rbda/rnea.py
@@ -132,7 +132,7 @@ def rnea(
     # Pass 1
     # ======
 
-    ForwardPassCarry = Tuple[jtp.MatrixJax, jtp.MatrixJax, jtp.MatrixJax, jtp.MatrixJax]
+    ForwardPassCarry = Tuple[jtp.Matrix, jtp.Matrix, jtp.Matrix, jtp.Matrix]
     forward_pass_carry: ForwardPassCarry = (v, a, i_X_0, f)
 
     def forward_pass(
@@ -186,7 +186,7 @@ def forward_pass(
 
     τ = jnp.zeros_like(s)
 
-    BackwardPassCarry = Tuple[jtp.MatrixJax, jtp.MatrixJax]
+    BackwardPassCarry = Tuple[jtp.Vector, jtp.Matrix]
     backward_pass_carry: BackwardPassCarry = (τ, f)
 
     def backward_pass(
@@ -201,7 +201,7 @@ def backward_pass(
         τ = τ.at[ii].set(τ_i.squeeze())
 
         # Propagate the force to the parent link.
-        def update_f(f: jtp.MatrixJax) -> jtp.MatrixJax:
+        def update_f(f: jtp.Matrix) -> jtp.Matrix:
 
             f_λi = f[λ[i]] + i_X_λi[i].T @ f[i]
             f = f.at[λ[i]].set(f_λi)
diff --git a/src/jaxsim/rbda/utils.py b/src/jaxsim/rbda/utils.py
index 19e4e87f3..0f209db78 100644
--- a/src/jaxsim/rbda/utils.py
+++ b/src/jaxsim/rbda/utils.py
@@ -19,7 +19,7 @@ def process_inputs(
     joint_accelerations: jtp.VectorLike | None = None,
     joint_forces: jtp.VectorLike | None = None,
     link_forces: jtp.MatrixLike | None = None,
-    standard_gravity: jtp.VectorLike | None = None,
+    standard_gravity: jtp.ScalarLike | None = None,
 ) -> tuple[
     jtp.Vector,
     jtp.Vector,
diff --git a/src/jaxsim/typing.py b/src/jaxsim/typing.py
index 5d56467c0..9b392836d 100644
--- a/src/jaxsim/typing.py
+++ b/src/jaxsim/typing.py
@@ -7,14 +7,14 @@
 # JAX types
 # =========
 
-ScalarJax = jax.Array
-IntJax = ScalarJax
-BoolJax = ScalarJax
-FloatJax = ScalarJax
+Array = jax.Array
+Scalar = Array
+Vector = Array
+Matrix = Array
 
-ArrayJax = jax.Array
-VectorJax = ArrayJax
-MatrixJax = ArrayJax
+Int = Scalar
+Bool = Scalar
+Float = Scalar
 
 PyTree = (
     dict[Hashable, "PyTree"] | list["PyTree"] | tuple["PyTree"] | None | jax.Array | Any
@@ -24,19 +24,11 @@
 # Mixed JAX / NumPy types
 # =======================
 
-Array = jax.typing.ArrayLike
-Scalar = Array
-Vector = Array
-Matrix = Array
+ArrayLike = jax.typing.ArrayLike | tuple
+ScalarLike = int | float | Scalar | ArrayLike
+VectorLike = Vector | ArrayLike | tuple
+MatrixLike = Matrix | ArrayLike
 
-Int = int | IntJax
-Bool = bool | ArrayJax
-Float = float | FloatJax
-
-ScalarLike = Scalar | int | float
-ArrayLike = Array
-VectorLike = Vector
-MatrixLike = Matrix
-IntLike = Int
-BoolLike = Bool
-FloatLike = Float
+IntLike = int | Int | jax.typing.ArrayLike
+BoolLike = bool | Bool | jax.typing.ArrayLike
+FloatLike = float | Float | jax.typing.ArrayLike
diff --git a/src/jaxsim/utils/jaxsim_dataclass.py b/src/jaxsim/utils/jaxsim_dataclass.py
index 0c80cda2c..0b3801b1e 100644
--- a/src/jaxsim/utils/jaxsim_dataclass.py
+++ b/src/jaxsim/utils/jaxsim_dataclass.py
@@ -326,7 +326,7 @@ def replace(self: Self, validate: bool = True, **kwargs) -> Self:
 
         return obj
 
-    def flatten(self) -> jtp.VectorJax:
+    def flatten(self) -> jtp.Vector:
         """
         Flatten the object into a 1D vector.
 
@@ -337,7 +337,7 @@ def flatten(self) -> jtp.VectorJax:
         return self.flatten_fn()(self)
 
     @classmethod
-    def flatten_fn(cls: Type[Self]) -> Callable[[Self], jtp.VectorJax]:
+    def flatten_fn(cls: Type[Self]) -> Callable[[Self], jtp.Vector]:
         """
         Return a function to flatten the object into a 1D vector.
 
@@ -347,7 +347,7 @@ def flatten_fn(cls: Type[Self]) -> Callable[[Self], jtp.VectorJax]:
 
         return lambda pytree: jax.flatten_util.ravel_pytree(pytree)[0]
 
-    def unflatten_fn(self: Self) -> Callable[[jtp.VectorJax], Self]:
+    def unflatten_fn(self: Self) -> Callable[[jtp.Vector], Self]:
         """
         Return a function to unflatten a 1D vector into the object.