diff --git a/CONTRIBUTORS.md b/CONTRIBUTORS.md
index 0feaabb2c8f..cd558135b97 100644
--- a/CONTRIBUTORS.md
+++ b/CONTRIBUTORS.md
@@ -140,6 +140,7 @@ Guidelines for modifications:
 * Xinpeng Liu
 * Yang Jin
 * Yanzi Zhu
+* Yasunori Toshimitsu
 * Yijie Guo
 * Yohan Choi
 * Yujian Zhang
diff --git a/source/isaaclab/isaaclab/envs/mdp/actions/joint_actions_to_limits.py b/source/isaaclab/isaaclab/envs/mdp/actions/joint_actions_to_limits.py
index 2667f7e86a6..2a43ed7a705 100644
--- a/source/isaaclab/isaaclab/envs/mdp/actions/joint_actions_to_limits.py
+++ b/source/isaaclab/isaaclab/envs/mdp/actions/joint_actions_to_limits.py
@@ -262,7 +262,7 @@ def reset(self, env_ids: Sequence[int] | None = None) -> None:
             env_ids = env_ids[:, None]
         super().reset(env_ids)
         # reset history to current joint positions
-        self._prev_applied_actions[env_ids, :] = self._asset.data.joint_pos[env_ids, self._joint_ids]
+        self._prev_applied_actions[env_ids, :] = self._asset.data.joint_pos[env_ids][:, :, self._joint_ids]
 
     def process_actions(self, actions: torch.Tensor):
         # apply affine transformations