diff --git a/src/jaxsim/api/link.py b/src/jaxsim/api/link.py
index 1d164010b..bc4351653 100644
--- a/src/jaxsim/api/link.py
+++ b/src/jaxsim/api/link.py
@@ -203,7 +203,7 @@ def com_in_inertial_frame():
     )
 
 
-@functools.partial(jax.jit, static_argnames=["output_vel_repr"])
+@jax.jit
 def jacobian(
     model: js.model.JaxSimModel,
     data: js.data.JaxSimModelData,
@@ -295,7 +295,7 @@ def jacobian(
     return O_J_WL_I
 
 
-@functools.partial(jax.jit, static_argnames=["output_vel_repr"])
+@jax.jit
 def velocity(
     model: js.model.JaxSimModel,
     data: js.data.JaxSimModelData,