diff --git a/source/extensions/omni.isaac.orbit/config/extension.toml b/source/extensions/omni.isaac.orbit/config/extension.toml
index 14417711f0..3ebfc01f95 100644
--- a/source/extensions/omni.isaac.orbit/config/extension.toml
+++ b/source/extensions/omni.isaac.orbit/config/extension.toml
@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.9.38"
+version = "0.9.39"
 
 # Description
 title = "ORBIT framework for Robot Learning"
diff --git a/source/extensions/omni.isaac.orbit/docs/CHANGELOG.rst b/source/extensions/omni.isaac.orbit/docs/CHANGELOG.rst
index 2debec9c11..d86301d896 100644
--- a/source/extensions/omni.isaac.orbit/docs/CHANGELOG.rst
+++ b/source/extensions/omni.isaac.orbit/docs/CHANGELOG.rst
@@ -1,6 +1,16 @@
 Changelog
 ---------
 
+0.9.39 (2023-11-08)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Changed the reference of private `_body_view` variable inside the :class:`RigidObject` class
+  to the public `body_view` property. For a rigid object, the private variable is not defined.
+
+
 0.9.38 (2023-11-07)
 ~~~~~~~~~~~~~~~~~~~
 
diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/rigid_object/rigid_object.py b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/rigid_object/rigid_object.py
index b94d21ea42..3b509cf6e1 100644
--- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/rigid_object/rigid_object.py
+++ b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/rigid_object/rigid_object.py
@@ -116,7 +116,7 @@ def write_data_to_sim(self):
         """
         # write external wrench
         if self.has_external_wrench:
-            self._body_view._physics_view.apply_forces_and_torques_at_position(
+            self.body_physx_view.apply_forces_and_torques_at_position(
                 force_data=self._external_force_b.view(-1, 3),
                 torque_data=self._external_torque_b.view(-1, 3),
                 position_data=None,