diff --git a/source/extensions/omni.isaac.lab/config/extension.toml b/source/extensions/omni.isaac.lab/config/extension.toml
index 0b5f4bdd5c8..28a55640492 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 = "0.27.9"
+version = "0.27.10"
 
 # 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 06273208769..991b6268d7e 100644
--- a/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst
+++ b/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst
@@ -1,6 +1,16 @@
 Changelog
 ---------
 
+0.27.10 (2024-11-01)
+~~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Cached the PhysX view's joint paths before looping over them when processing fixed joint tendons
+  inside the :class:`Articulation` class. This helps improve the processing time for the tendons.
+
+
 0.27.9 (2024-11-01)
 ~~~~~~~~~~~~~~~~~~~
 
diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py
index 7011cafbc16..1dfc348bc26 100644
--- a/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py
+++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py
@@ -1190,10 +1190,11 @@ def _process_fixed_tendons(self):
         # parse fixed tendons properties if they exist
         if self.num_fixed_tendons > 0:
             stage = stage_utils.get_current_stage()
+            joint_paths = self.root_physx_view.dof_paths[0]
 
             # iterate over all joints to find tendons attached to them
             for j in range(self.num_joints):
-                usd_joint_path = self.root_physx_view.dof_paths[0][j]
+                usd_joint_path = joint_paths[j]
                 # check whether joint has tendons - tendon name follows the joint name it is attached to
                 joint = UsdPhysics.Joint.Get(stage, usd_joint_path)
                 if joint.GetPrim().HasAPI(PhysxSchema.PhysxTendonAxisRootAPI):