diff --git a/source/extensions/omni.isaac.orbit/config/extension.toml b/source/extensions/omni.isaac.orbit/config/extension.toml
index 425a18b75d4..c0a87d24276 100644
--- a/source/extensions/omni.isaac.orbit/config/extension.toml
+++ b/source/extensions/omni.isaac.orbit/config/extension.toml
@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.15.3"
+version = "0.15.4"
 
 # Description
 title = "ORBIT framework for Robot Learning"
diff --git a/source/extensions/omni.isaac.orbit/docs/CHANGELOG.rst b/source/extensions/omni.isaac.orbit/docs/CHANGELOG.rst
index 1f8adff970b..51f7df29ede 100644
--- a/source/extensions/omni.isaac.orbit/docs/CHANGELOG.rst
+++ b/source/extensions/omni.isaac.orbit/docs/CHANGELOG.rst
@@ -1,6 +1,15 @@
 Changelog
 ---------
 
+0.15.4 (2024-03-22)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed the NonHolonomicActionCfg variable naming from joint_vel to _joint_vel_command to match the initialized variable in the init() function.
+
+
 0.15.3 (2024-03-21)
 ~~~~~~~~~~~~~~~~~~~
 
@@ -11,6 +20,7 @@ Added
 
 Fixed
 ^^^^^
+
 * Moved class variables in :class:`omni.isaac.orbit.scene.InteractiveScene` to correctly  be assigned as
   instance variables.
 * Removed custom ``__del__`` magic method from :class:`omni.isaac.orbit.scene.InteractiveScene`.
diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/actions/non_holonomic_actions.py b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/actions/non_holonomic_actions.py
index 043ebc39b79..061554185f8 100644
--- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/actions/non_holonomic_actions.py
+++ b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/actions/non_holonomic_actions.py
@@ -134,8 +134,8 @@ def apply_actions(self):
         quat_w = self._asset.data.body_quat_w[:, self._body_idx]
         yaw_w = euler_xyz_from_quat(quat_w)[2]
         # compute joint velocities targets
-        self.joint_vel[:, 0] = torch.cos(yaw_w) * self.processed_actions[:, 0]  # x
-        self.joint_vel[:, 1] = torch.sin(yaw_w) * self.processed_actions[:, 0]  # y
-        self.joint_vel[:, 2] = self.processed_actions[:, 1]  # yaw
+        self._joint_vel_command[:, 0] = torch.cos(yaw_w) * self.processed_actions[:, 0]  # x
+        self._joint_vel_command[:, 1] = torch.sin(yaw_w) * self.processed_actions[:, 0]  # y
+        self._joint_vel_command[:, 2] = self.processed_actions[:, 1]  # yaw
         # set the joint velocity targets
-        self._asset.set_joint_velocity_target(self.joint_vel, joint_ids=self._joint_ids)
+        self._asset.set_joint_velocity_target(self._joint_vel_command, joint_ids=self._joint_ids)