diff --git a/tests/test_pytree.py b/tests/test_pytree.py
index 712b61441..8d063dc87 100644
--- a/tests/test_pytree.py
+++ b/tests/test_pytree.py
@@ -3,6 +3,7 @@
 from contextlib import redirect_stdout
 
 import jax
+import jax.numpy as jnp
 
 import jaxsim.api as js
 
@@ -45,3 +46,21 @@ def test_call_jit_compiled_function_passing_different_objects(
         f"Compiling {js.contact.estimate_good_soft_contacts_parameters.__name__}"
         not in stdout
     )
+
+    # Define a new JIT-compiled function and check that is not recompiled for
+    # different model objects having the same pytree structure.
+    @jax.jit
+    def my_jit_function(model: js.model.JaxSimModel, data: js.data.JaxSimModelData):
+        # Return random elements from model and data, just to have something returned.
+        return (
+            jnp.sum(model.kin_dyn_parameters.link_parameters.mass),
+            data.base_position(),
+        )
+
+    data1 = js.data.JaxSimModelData.build(model=model1)
+
+    _ = my_jit_function(model=model1, data=data1)
+    assert my_jit_function._cache_size() == 1
+
+    _ = my_jit_function(model=model2, data=data1)
+    assert my_jit_function._cache_size() == 1