diff --git a/CONTRIBUTORS.md b/CONTRIBUTORS.md
index 318e1106c68..ee3d809a47b 100644
--- a/CONTRIBUTORS.md
+++ b/CONTRIBUTORS.md
@@ -116,6 +116,7 @@ Guidelines for modifications:
 * Manuel Schweiger
 * Masoud Moghani
 * Mateo Guaman Castro
+* Matteo Princisgh
 * Maurice Rahme
 * Michael Gussert
 * Michael Lin
diff --git a/source/isaaclab/isaaclab/envs/utils/io_descriptors.py b/source/isaaclab/isaaclab/envs/utils/io_descriptors.py
index ccf1feb43ec..9cdd7e7ef05 100644
--- a/source/isaaclab/isaaclab/envs/utils/io_descriptors.py
+++ b/source/isaaclab/isaaclab/envs/utils/io_descriptors.py
@@ -358,25 +358,25 @@ def export_articulations_data(env: ManagerBasedEnv) -> dict[str, dict[str, list[
         articulation_joint_data[articulation_name] = {}
         articulation_joint_data[articulation_name]["joint_names"] = articulation.joint_names
         articulation_joint_data[articulation_name]["default_joint_pos"] = (
-            articulation.data.default_joint_pos[0].detach().cpu().numpy().tolist()
+            wp.to_torch(articulation.data.default_joint_pos)[0].detach().cpu().numpy().tolist()
         )
         articulation_joint_data[articulation_name]["default_joint_vel"] = (
-            articulation.data.default_joint_vel[0].detach().cpu().numpy().tolist()
+            wp.to_torch(articulation.data.default_joint_vel)[0].detach().cpu().numpy().tolist()
         )
         articulation_joint_data[articulation_name]["default_joint_pos_limits"] = (
-            articulation.data.default_joint_pos_limits[0].detach().cpu().numpy().tolist()
+            wp.to_torch(articulation.data.default_joint_pos_limits)[0].detach().cpu().numpy().tolist()
         )
         articulation_joint_data[articulation_name]["default_joint_damping"] = (
-            articulation.data.joint_damping[0].detach().cpu().numpy().tolist()
+            wp.to_torch(articulation.data.joint_damping)[0].detach().cpu().numpy().tolist()
         )
         articulation_joint_data[articulation_name]["default_joint_stiffness"] = (
-            articulation.data.joint_stiffness[0].detach().cpu().numpy().tolist()
+            wp.to_torch(articulation.data.joint_stiffness)[0].detach().cpu().numpy().tolist()
         )
         articulation_joint_data[articulation_name]["default_joint_friction"] = (
-            articulation.data.joint_friction_coeff[0].detach().cpu().numpy().tolist()
+            wp.to_torch(articulation.data.joint_friction_coeff)[0].detach().cpu().numpy().tolist()
         )
         articulation_joint_data[articulation_name]["default_joint_armature"] = (
-            articulation.data.joint_armature[0].detach().cpu().numpy().tolist()
+            wp.to_torch(articulation.data.joint_armature)[0].detach().cpu().numpy().tolist()
         )
     return articulation_joint_data