diff --git a/src/jaxsim/parsers/descriptions/collision.py b/src/jaxsim/parsers/descriptions/collision.py
index 7b4f8d184..289ab70be 100644
--- a/src/jaxsim/parsers/descriptions/collision.py
+++ b/src/jaxsim/parsers/descriptions/collision.py
@@ -50,6 +50,14 @@ def change_link(
             enabled=self.enabled,
         )
 
+    def __eq__(self, other):
+        retval = (
+            self.parent_link == other.parent_link
+            and (self.position == other.position).all()
+            and self.enabled == other.enabled
+        )
+        return retval
+
     def __str__(self):
         return (
             f"{self.__class__.__name__}("
@@ -93,6 +101,9 @@ class BoxCollision(CollisionShape):
 
     center: npt.NDArray
 
+    def __eq__(self, other):
+        return (self.center == other.center).all() and super().__eq__(other)
+
 
 @dataclasses.dataclass
 class SphereCollision(CollisionShape):
@@ -105,3 +116,6 @@ class SphereCollision(CollisionShape):
     """
 
     center: npt.NDArray
+
+    def __eq__(self, other):
+        return (self.center == other.center).all() and super().__eq__(other)
diff --git a/src/jaxsim/parsers/descriptions/link.py b/src/jaxsim/parsers/descriptions/link.py
index f5be265b2..d2912d7f0 100644
--- a/src/jaxsim/parsers/descriptions/link.py
+++ b/src/jaxsim/parsers/descriptions/link.py
@@ -38,6 +38,17 @@ class LinkDescription(JaxsimDataclass):
     def __hash__(self) -> int:
         return hash(self.__repr__())
 
+    def __eq__(self, other) -> bool:
+        return (
+            self.name == other.name
+            and self.mass == other.mass
+            and (self.inertia == other.inertia).all()
+            and self.index == other.index
+            and self.parent == other.parent
+            and (self.pose == other.pose).all()
+            and self.children == other.children
+        )
+
     @property
     def name_and_index(self) -> str:
         """
diff --git a/src/jaxsim/parsers/kinematic_graph.py b/src/jaxsim/parsers/kinematic_graph.py
index 9a4f8a43e..7b3021f47 100644
--- a/src/jaxsim/parsers/kinematic_graph.py
+++ b/src/jaxsim/parsers/kinematic_graph.py
@@ -34,6 +34,11 @@ class RootPose(NamedTuple):
     root_position: npt.NDArray = np.zeros(3)
     root_quaternion: npt.NDArray = np.array([1.0, 0, 0, 0])
 
+    def __eq__(self, other):
+        return (self.root_position == other.root_position).all() and (
+            self.root_quaternion == other.root_quaternion
+        ).all()
+
 
 @dataclasses.dataclass(frozen=True)
 class KinematicGraph: