diff --git a/source/isaaclab/config/extension.toml b/source/isaaclab/config/extension.toml
index d031ffce038..a7945b41cf2 100644
--- a/source/isaaclab/config/extension.toml
+++ b/source/isaaclab/config/extension.toml
@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.50.5"
+version = "0.50.6"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"
diff --git a/source/isaaclab/docs/CHANGELOG.rst b/source/isaaclab/docs/CHANGELOG.rst
index 6fd86207d43..b19e106f7af 100644
--- a/source/isaaclab/docs/CHANGELOG.rst
+++ b/source/isaaclab/docs/CHANGELOG.rst
@@ -1,6 +1,17 @@
 Changelog
 ---------
 
+0.50.6 (2025-12-18)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed issue where :meth:~isaaclab.envs.mdp.observations.body_pose_w` was modifying the original body pose data
+  when using slice or int for body_ids in the observation config. A clone of the data is now created to avoid modifying
+  the original data.
+
+
 0.50.5 (2025-12-15)
 ~~~~~~~~~~~~~~~~~~~
 
diff --git a/source/isaaclab/isaaclab/envs/mdp/observations.py b/source/isaaclab/isaaclab/envs/mdp/observations.py
index ac502521aae..17538e4983b 100644
--- a/source/isaaclab/isaaclab/envs/mdp/observations.py
+++ b/source/isaaclab/isaaclab/envs/mdp/observations.py
@@ -154,6 +154,8 @@ def body_pose_w(
 
     # access the body poses in world frame
     pose = asset.data.body_pose_w[:, asset_cfg.body_ids, :7]
+    if isinstance(asset_cfg.body_ids, (slice, int)):
+        pose = pose.clone()  # if slice or int, make a copy to avoid modifying original data
     pose[..., :3] = pose[..., :3] - env.scene.env_origins.unsqueeze(1)
     return pose.reshape(env.num_envs, -1)