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 e2f95987aa..62feaf7750 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
@@ -69,7 +69,7 @@ def __init__(self, cfg: actions_cfg.JointActionCfg, env: ManagerBasedEnv) -> Non
         )
 
         # Avoid indexing across all joints for efficiency
-        if self._num_joints == self._asset.num_joints:
+        if self._num_joints == self._asset.num_joints and not self.cfg.preserve_order:
             self._joint_ids = slice(None)
 
         # create tensors for raw and processed actions