diff --git a/source/extensions/omni.isaac.lab/config/extension.toml b/source/extensions/omni.isaac.lab/config/extension.toml
index 6775254252..f654f4e0c7 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 = "0.30.3"
+version = "0.30.4"
 
 # 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 2f8ce741d9..587cda4ce5 100644
--- a/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst
+++ b/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst
@@ -1,6 +1,16 @@
 Changelog
 ---------
 
+0.30.4 (2025-01-08)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* fixed docstring in articulation data :class:`omni.isaac.lab.assets.ArticulationData`.
+  In body properties sections, the second dimension should be num_bodies but was documented as 1.
+
+
 0.30.3 (2025-01-02)
 ~~~~~~~~~~~~~~~~~~~
 
diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py
index f05084d98e..1ce4bcc367 100644
--- a/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py
+++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py
@@ -747,7 +747,7 @@ def body_ang_acc_w(self) -> torch.Tensor:
 
     @property
     def body_link_pos_w(self) -> torch.Tensor:
-        """Positions of all bodies in simulation world frame. Shape is (num_instances, 1, 3).
+        """Positions of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3).
 
         This quantity is the position of the rigid bodies' actor frame relative to the world.
         """
@@ -760,7 +760,7 @@ def body_link_pos_w(self) -> torch.Tensor:
 
     @property
     def body_link_quat_w(self) -> torch.Tensor:
-        """Orientation (w, x, y, z) of all bodies in simulation world frame. Shape is (num_instances, 1, 4).
+        """Orientation (w, x, y, z) of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 4).
 
         This quantity is the orientation of the rigid bodies' actor frame  relative to the world.
         """
@@ -774,7 +774,7 @@ def body_link_quat_w(self) -> torch.Tensor:
 
     @property
     def body_link_vel_w(self) -> torch.Tensor:
-        """Velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 6).
+        """Velocity of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 6).
 
         This quantity contains the linear and angular velocities of the rigid bodies' center of mass frame
         relative to the world.
@@ -783,7 +783,7 @@ def body_link_vel_w(self) -> torch.Tensor:
 
     @property
     def body_link_lin_vel_w(self) -> torch.Tensor:
-        """Linear velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 3).
+        """Linear velocity of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3).
 
         This quantity is the linear velocity of the rigid bodies' center of mass frame relative to the world.
         """
@@ -791,7 +791,7 @@ def body_link_lin_vel_w(self) -> torch.Tensor:
 
     @property
     def body_link_ang_vel_w(self) -> torch.Tensor:
-        """Angular velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 3).
+        """Angular velocity of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3).
 
         This quantity is the angular velocity of the rigid bodies' center of mass frame relative to the world.
         """
@@ -803,7 +803,7 @@ def body_link_ang_vel_w(self) -> torch.Tensor:
 
     @property
     def body_com_pos_w(self) -> torch.Tensor:
-        """Positions of all bodies in simulation world frame. Shape is (num_instances, 1, 3).
+        """Positions of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3).
 
         This quantity is the position of the rigid bodies' actor frame.
         """
@@ -813,13 +813,13 @@ def body_com_pos_w(self) -> torch.Tensor:
     def body_com_quat_w(self) -> torch.Tensor:
         """Orientation (w, x, y, z) of the prinicple axies of inertia of all bodies in simulation world frame.
 
-        Shape is (num_instances, 1, 4). This quantity is the orientation of the rigid bodies' actor frame.
+        Shape is (num_instances, num_bodies, 4). This quantity is the orientation of the rigid bodies' actor frame.
         """
         return self.body_com_state_w[..., 3:7]
 
     @property
     def body_com_vel_w(self) -> torch.Tensor:
-        """Velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 6).
+        """Velocity of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 6).
 
         This quantity contains the linear and angular velocities of the rigid bodies' center of mass frame.
         """
@@ -832,7 +832,7 @@ def body_com_vel_w(self) -> torch.Tensor:
 
     @property
     def body_com_lin_vel_w(self) -> torch.Tensor:
-        """Linear velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 3).
+        """Linear velocity of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3).
 
         This quantity is the linear velocity of the rigid bodies' center of mass frame.
         """
@@ -845,7 +845,7 @@ def body_com_lin_vel_w(self) -> torch.Tensor:
 
     @property
     def body_com_ang_vel_w(self) -> torch.Tensor:
-        """Angular velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 3).
+        """Angular velocity of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3).
 
         This quantity is the angular velocity of the rigid bodies' center of mass frame.
         """