diff --git a/src/jaxsim/math/joint_model.py b/src/jaxsim/math/joint_model.py
index 106409b88..a641fa7c0 100644
--- a/src/jaxsim/math/joint_model.py
+++ b/src/jaxsim/math/joint_model.py
@@ -267,7 +267,10 @@ def compute_P() -> tuple[jtp.Matrix, jtp.Array]:
         # This is a metadata required by only some joint types.
         axis = jnp.array(joint_axis).astype(float).squeeze()
 
-        pre_H_suc = jaxlie.SE3.from_translation(translation=jnp.array(s * axis))
+        pre_H_suc = jaxlie.SE3.from_rotation_and_translation(
+            rotation=jaxlie.SO3.identity(),
+            translation=jnp.array(s * axis),
+        )
 
         S = jnp.vstack(jnp.hstack([axis, jnp.zeros(3)]))