# Description

Adds the attribute `preserve_order` in `JointActionCfg`, to choose whether joint-related actions should keep the same
order as how the `joint_names` are listed in the config.

Fixes #786

## Type of change

- New feature 

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [ ] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's config/extension.toml file
- [x] I have added my name to the CONTRIBUTORS.md or my name already
exists there