Isaac Lab: How to use different HDRI backgrounds per environment in parallel environments?

[nitkizs]

Hi,
I am working with Isaac Lab using parallel environments, where environments are cloned under paths like:

• /World/envs/env_0
• /World/envs/env_1

I want each environment to use a different HDRI background.

I tried creating one DomeLight per environment using DomeLightCfg(texture_file=...), with each dome light placed under its corresponding environment namespace. However, both environments still appear to share the same HDRI, or one HDRI overrides the other.

1. Is it possible to assign different HDRIs per environment within a single Isaac Lab simulation?
2. Are DomeLights effectively global in Omniverse/USD, even if authored under different env paths?
3. What is the recommended way to achieve per-environment visual diversity in parallel environments?

So far, I have tried:

• creating a separate DomeLight under each env path
• setting visible_in_primary_ray=True

But the results are not isolated per environment.

Environment:

• Isaac Lab: 0.54.3
• Isaac Sim: 5.1
• GPU: RTX 4070