diff --git a/tests/conftest.py b/tests/conftest.py
index 3ad751e85..19cb36599 100644
--- a/tests/conftest.py
+++ b/tests/conftest.py
@@ -13,6 +13,7 @@
 
 import jaxsim
 import jaxsim.api as js
+from jaxsim.api.model import Integrator
 
 
 def pytest_addoption(parser):
@@ -127,6 +128,24 @@ def velocity_representation(request) -> jaxsim.VelRepr:
     return request.param
 
 
+@pytest.fixture(
+    scope="function",
+    params=[
+        pytest.param(Integrator.SemiImplicitEuler, id="semi_implicit_euler"),
+        pytest.param(Integrator.RungeKutta4, id="runge_kutta_4"),
+    ],
+)
+def integrator(request) -> str:
+    """
+    Fixture providing the integrator to use in the simulation.
+
+    Returns:
+        The integrator to use in the simulation.
+    """
+
+    return request.param
+
+
 @pytest.fixture(scope="session")
 def batch_size(request) -> int:
     """
diff --git a/tests/test_simulations.py b/tests/test_simulations.py
index 50fa4beb9..56a65ef0a 100644
--- a/tests/test_simulations.py
+++ b/tests/test_simulations.py
@@ -188,7 +188,7 @@ def run_simulation(
 
 
 def test_simulation_with_relaxed_rigid_contacts(
-    jaxsim_model_box: js.model.JaxSimModel,
+    jaxsim_model_box: js.model.JaxSimModel, integrator
 ):
 
     model = jaxsim_model_box
@@ -206,6 +206,7 @@ def test_simulation_with_relaxed_rigid_contacts(
         model.kin_dyn_parameters.contact_parameters.enabled = tuple(
             enabled_collidable_points_mask.tolist()
         )
+        model.integrator = integrator
 
     assert np.sum(model.kin_dyn_parameters.contact_parameters.enabled) == 4