diff --git a/source/extensions/omni.isaac.lab/config/extension.toml b/source/extensions/omni.isaac.lab/config/extension.toml
index feae1282ef..7c9f6b73af 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 = "0.27.23"
+version = "0.27.24"
 
 # 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 9bd25151c6..0b9574c2d2 100644
--- a/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst
+++ b/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst
@@ -1,6 +1,15 @@
 Changelog
 ---------
 
+0.27.24 (2024-12-07)
+~~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed the shape of `quat_w` in the `apply_actions` method of :attr:`~omni.isaac.lab.env.mdp.NonHolonomicAction` (previously (N,B,4), now (N,4) since the number of root bodies B is required to be 1). Previously `apply_actions` erred because `euler_xyz_from_quat` requires inputs of shape (N,4).
+
+
 0.27.23 (2024-12-06)
 ~~~~~~~~~~~~~~~~~~~~
 
diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/non_holonomic_actions.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/non_holonomic_actions.py
index fc9ed89d6e..53ef8ba40c 100644
--- a/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/non_holonomic_actions.py
+++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/non_holonomic_actions.py
@@ -132,7 +132,7 @@ def process_actions(self, actions):
 
     def apply_actions(self):
         # obtain current heading
-        quat_w = self._asset.data.body_quat_w[:, self._body_idx]
+        quat_w = self._asset.data.body_quat_w[:, self._body_idx].view(self.num_envs, 4)
         yaw_w = euler_xyz_from_quat(quat_w)[2]
         # compute joint velocities targets
         self._joint_vel_command[:, 0] = torch.cos(yaw_w) * self.processed_actions[:, 0]  # x