diff --git a/src/jaxsim/simulation/integrators.py b/src/jaxsim/simulation/integrators.py
index aad147e44..367e8e2c0 100644
--- a/src/jaxsim/simulation/integrators.py
+++ b/src/jaxsim/simulation/integrators.py
@@ -65,7 +65,7 @@ def integrator_fixed_single_step(
     sub_step_dt = dt / num_sub_steps
 
     # Initialize the carry
-    Carry = Tuple[State, Time]
+    Carry = Tuple[State | ODEState, Time]
     carry_init: Carry = (x0, t0)
 
     def forward_euler_body_fun(carry: Carry, xs: None) -> Tuple[Carry, None]: