diff --git a/source/isaaclab_tasks_experimental/changelog.d/mhaiderbhai-warp-reorient-reset-sampling.rst b/source/isaaclab_tasks_experimental/changelog.d/mhaiderbhai-warp-reorient-reset-sampling.rst
new file mode 100644
index 000000000000..2bbcf0722187
--- /dev/null
+++ b/source/isaaclab_tasks_experimental/changelog.d/mhaiderbhai-warp-reorient-reset-sampling.rst
@@ -0,0 +1,6 @@
+Fixed
+^^^^^
+
+* Fixed the Warp reorientation reset sampling hand joint positions around the
+  lower joint limit instead of between the lower and upper limits, matching the
+  torch reorientation tasks.
diff --git a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/core/reorient/reorient_warp_env.py b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/core/reorient/reorient_warp_env.py
index 1b68d553b56f..c2a34edc9da6 100644
--- a/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/core/reorient/reorient_warp_env.py
+++ b/source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/core/reorient/reorient_warp_env.py
@@ -163,7 +163,7 @@ def reset_hand(
 
             delta_max = upper_limits[env_id, dof_id] - default_joint_pos[env_id, dof_id]
             delta_min = lower_limits[env_id, dof_id] - default_joint_pos[env_id, dof_id]
-            rand_delta = delta_min + (delta_max - delta_min) * 0.5 * dof_pos_noise
+            rand_delta = delta_min + (delta_max - delta_min) * 0.5 * (dof_pos_noise + wp.float32(1.0))
             pos = default_joint_pos[env_id, dof_id] + reset_dof_pos_noise * rand_delta
 
             dof_vel_noise = wp.randf(rng_state[env_id], wp.float32(-1.0), wp.float32(1.0))