Hi there, in order to add distinct objects to individual environments, please do this after the environments have been cloned. You can iterate through the environments after cloning and add objects directly to the stage using USD APIs. We have an example of this workflow for our Factory environment: OmniIsaacGymEnvs/factory_env_nut_bolt.py at main · NVIDIA-Omniverse/OmniIsaacGymEnvs · GitHub.