diff --git a/CONTRIBUTORS.md b/CONTRIBUTORS.md
index 5bfdf83a6c..ff252def29 100644
--- a/CONTRIBUTORS.md
+++ b/CONTRIBUTORS.md
@@ -54,6 +54,7 @@ Guidelines for modifications:
 * Rosario Scalise
 * Shafeef Omar
 * Vladimir Fokow
+* Xavier Nal
 * Zhengyu Zhang
 * Ziqi Fan
 
diff --git a/source/extensions/omni.isaac.lab/config/extension.toml b/source/extensions/omni.isaac.lab/config/extension.toml
index 094eb0d98e..c3d0947a4a 100644
--- a/source/extensions/omni.isaac.lab/config/extension.toml
+++ b/source/extensions/omni.isaac.lab/config/extension.toml
@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.21.0"
+version = "0.21.1"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"
diff --git a/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst b/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst
index 3de98cc39e..e271695124 100644
--- a/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst
+++ b/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst
@@ -1,6 +1,12 @@
 Changelog
 ---------
 
+0.21.1 (2024-08-06)
+~~~~~~~~~~~~~~~~~~~
+
+* Added a flag to preserve joint ordering inside the :class:`omni.isaac.lab.envs.mdp.JointAction` action term.
+
+
 0.21.0 (2024-08-05)
 ~~~~~~~~~~~~~~~~~~~
 
diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py
index 79f7f6c880..6d07ceb855 100644
--- a/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py
+++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py
@@ -29,6 +29,8 @@ class JointActionCfg(ActionTermCfg):
     """Scale factor for the action (float or dict of regex expressions). Defaults to 1.0."""
     offset: float | dict[str, float] = 0.0
     """Offset factor for the action (float or dict of regex expressions). Defaults to 0.0."""
+    preserve_order: bool = False
+    """Whether to preserve the order of the joint names in the action output. Defaults to False."""
 
 
 @configclass
diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/joint_actions.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/joint_actions.py
index 1dc6bc1746..d0ebd20d2b 100644
--- a/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/joint_actions.py
+++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/joint_actions.py
@@ -56,7 +56,9 @@ def __init__(self, cfg: actions_cfg.JointActionCfg, env: ManagerBasedEnv) -> Non
         super().__init__(cfg, env)
 
         # resolve the joints over which the action term is applied
-        self._joint_ids, self._joint_names = self._asset.find_joints(self.cfg.joint_names)
+        self._joint_ids, self._joint_names = self._asset.find_joints(
+            self.cfg.joint_names, preserve_order=self.cfg.preserve_order
+        )
         self._num_joints = len(self._joint_ids)
         # log the resolved joint names for debugging
         carb.log_info(