diff --git a/README.md b/README.md
index 681dfbb..71070c5 100644
--- a/README.md
+++ b/README.md
@@ -258,7 +258,7 @@ Example: generate multiple parallel simulation envs with `gym.make` and record s
 python embodied_gen/scripts/parallel_sim.py \
 --layout_file "outputs/layouts_gen/task_0000/layout.json" \
 --output_dir "outputs/parallel_sim/task_0000" \
---num_envs 20
+--num_envs 16
 ```
 
 ### 🖼️ Real-to-Sim Digital Twin
diff --git a/embodied_gen/envs/pick_embodiedgen.py b/embodied_gen/envs/pick_embodiedgen.py
index 9b14070..ea1cac6 100644
--- a/embodied_gen/envs/pick_embodiedgen.py
+++ b/embodied_gen/envs/pick_embodiedgen.py
@@ -16,7 +16,6 @@
 
 import json
 import os
-from copy import deepcopy
 
 import numpy as np
 import sapien
@@ -26,6 +25,7 @@ from mani_skill.envs.sapien_env import BaseEnv
 from mani_skill.sensors.camera import CameraConfig
 from mani_skill.utils import sapien_utils
 from mani_skill.utils.building import actors
+from mani_skill.utils.building.ground import build_ground
 from mani_skill.utils.registration import register_env
 from mani_skill.utils.structs.actor import Actor
 from mani_skill.utils.structs.pose import Pose
@@ -78,6 +78,14 @@ class PickEmbodiedGen(BaseEnv):
         # Add small offset in z-axis to avoid collision.
         self.objs_z_offset = kwargs.pop("objs_z_offset", 0.002)
         self.robot_z_offset = kwargs.pop("robot_z_offset", 0.002)
+        self.camera_cfg = kwargs.pop("camera_cfg", None)
+        if self.camera_cfg is None:
+            self.camera_cfg = dict(
+                camera_eye=[0.9, 0.0, 1.1],
+                camera_target_pt=[0.0, 0.0, 0.9],
+                image_hw=[256, 256],
+                fovy_deg=75,
+            )
 
         self.layouts = self.init_env_layouts(
             layout_file, num_envs, replace_objs
@@ -106,22 +114,30 @@ class PickEmbodiedGen(BaseEnv):
     def init_env_layouts(
         layout_file: str, num_envs: int, replace_objs: bool
     ) -> list[LayoutInfo]:
-        layout = LayoutInfo.from_dict(json.load(open(layout_file, "r")))
         layouts = []
         for env_idx in range(num_envs):
             if replace_objs and env_idx > 0:
-                layout = bfs_placement(deepcopy(layout))
-            layouts.append(layout)
+                layout_info = bfs_placement(layout_file)
+            else:
+                layout_info = json.load(open(layout_file, "r"))
+                layout_info = LayoutInfo.from_dict(layout_info)
+
+            layout_path = layout_file.replace(".json", f"_env{env_idx}.json")
+            with open(layout_path, "w") as f:
+                json.dump(layout_info.to_dict(), f, indent=4)
+
+            layouts.append(layout_path)
 
         return layouts
 
     @staticmethod
     def compute_robot_init_pose(
-        layouts: list[LayoutInfo], num_envs: int, z_offset: float = 0.0
+        layouts: list[str], num_envs: int, z_offset: float = 0.0
     ) -> list[list[float]]:
         robot_pose = []
         for env_idx in range(num_envs):
-            layout = layouts[env_idx]
+            layout = json.load(open(layouts[env_idx], "r"))
+            layout = LayoutInfo.from_dict(layout)
             robot_node = layout.relation[Scene3DItemEnum.ROBOT.value]
             x, y, z, qx, qy, qz, qw = layout.position[robot_node]
             robot_pose.append([x, y, z + z_offset, qw, qx, qy, qz])
@@ -154,19 +170,27 @@ class PickEmbodiedGen(BaseEnv):
     @property
     def _default_human_render_camera_configs(self):
         pose = sapien_utils.look_at(
-            eye=[0.9, 0.0, 1.1], target=[0.0, 0.0, 0.9]
+            eye=self.camera_cfg["camera_eye"],
+            target=self.camera_cfg["camera_target_pt"],
         )
 
         return CameraConfig(
-            "render_camera", pose, 256, 256, np.deg2rad(75), 0.01, 100
+            "render_camera",
+            pose,
+            self.camera_cfg["image_hw"][1],
+            self.camera_cfg["image_hw"][0],
+            np.deg2rad(self.camera_cfg["fovy_deg"]),
+            0.01,
+            100,
         )
 
     def _load_agent(self, options: dict):
+        self.ground = build_ground(self.scene)
         super()._load_agent(options, sapien.Pose(p=[-10, 0, 10]))
 
     def _load_scene(self, options: dict):
         all_objects = []
-        logger.info(f"Loading assets and decomposition mesh collisions...")
+        logger.info(f"Loading EmbodiedGen assets...")
         for env_idx in range(self.num_envs):
             env_actors = load_assets_from_layout_file(
                 self.scene,
@@ -229,7 +253,7 @@ class PickEmbodiedGen(BaseEnv):
             self.agent.controller.controllers["gripper"].reset()
 
     def render_gs3d_images(
-        self, layouts: list[LayoutInfo], num_envs: int, init_quat: list[float]
+        self, layouts: list[str], num_envs: int, init_quat: list[float]
     ) -> dict[str, np.ndarray]:
         sim_coord_align = (
             torch.tensor(SIM_COORD_ALIGN).to(torch.float32).to(self.device)
@@ -237,12 +261,18 @@ class PickEmbodiedGen(BaseEnv):
         cameras = self.scene.sensors.copy()
         cameras.update(self.scene.human_render_cameras)
 
-        bg_node = layouts[0].relation[Scene3DItemEnum.BACKGROUND.value]
-        gs_path = os.path.join(layouts[0].assets[bg_node], "gs_model.ply")
+        # Preload the background Gaussian Splatting model.
+        asset_root = os.path.dirname(layouts[0])
+        layout = LayoutInfo.from_dict(json.load(open(layouts[0], "r")))
+        bg_node = layout.relation[Scene3DItemEnum.BACKGROUND.value]
+        gs_path = os.path.join(
+            asset_root, layout.assets[bg_node], "gs_model.ply"
+        )
         raw_gs: GaussianOperator = GaussianOperator.load_from_ply(gs_path)
         bg_images = dict()
         for env_idx in tqdm(range(num_envs), desc="Pre-rendering Background"):
-            layout = layouts[env_idx]
+            layout = json.load(open(layouts[env_idx], "r"))
+            layout = LayoutInfo.from_dict(layout)
             x, y, z, qx, qy, qz, qw = layout.position[bg_node]
             qx, qy, qz, qw = quaternion_multiply([qx, qy, qz, qw], init_quat)
             init_pose = torch.tensor([x, y, z, qx, qy, qz, qw])
diff --git a/embodied_gen/scripts/compose_layout.py b/embodied_gen/scripts/compose_layout.py
index d9051a1..3451fbc 100644
--- a/embodied_gen/scripts/compose_layout.py
+++ b/embodied_gen/scripts/compose_layout.py
@@ -50,10 +50,7 @@ def entrypoint(**kwargs):
     out_scene_path = f"{output_dir}/Iscene.glb"
     out_layout_path = f"{output_dir}/layout.json"
 
-    with open(args.layout_path, "r") as f:
-        layout_info = LayoutInfo.from_dict(json.load(f))
-
-    layout_info = bfs_placement(layout_info, seed=args.seed)
+    layout_info = bfs_placement(args.layout_path, seed=args.seed)
     with open(out_layout_path, "w") as f:
         json.dump(layout_info.to_dict(), f, indent=4)
 
diff --git a/embodied_gen/scripts/gen_layout.py b/embodied_gen/scripts/gen_layout.py
index 5df6973..5e6ec9d 100644
--- a/embodied_gen/scripts/gen_layout.py
+++ b/embodied_gen/scripts/gen_layout.py
@@ -119,11 +119,15 @@ def entrypoint() -> None:
         match_scene_path = f"{os.path.dirname(args.bg_list)}/{match_key}"
         bg_save_dir = os.path.join(output_root, "background")
         copytree(match_scene_path, bg_save_dir, dirs_exist_ok=True)
-        layout_info.assets[bg_node] = bg_save_dir
+        layout_info.assets[bg_node] = "background"
 
         # BFS layout placement.
+        layout_path = f"{output_root}/layout.json"
+        with open(layout_path, "w") as f:
+            json.dump(layout_info.to_dict(), f, indent=4)
+
         layout_info = bfs_placement(
-            layout_info,
+            layout_path,
             limit_reach_range=True if args.insert_robot else False,
             seed=args.seed_layout,
         )
diff --git a/embodied_gen/scripts/parallel_sim.py b/embodied_gen/scripts/parallel_sim.py
index 91d3fed..5bf932e 100644
--- a/embodied_gen/scripts/parallel_sim.py
+++ b/embodied_gen/scripts/parallel_sim.py
@@ -20,7 +20,7 @@ from embodied_gen.utils.monkey_patches import monkey_patch_maniskill
 monkey_patch_maniskill()
 import json
 from collections import defaultdict
-from dataclasses import dataclass
+from dataclasses import dataclass, field
 from typing import Literal
 
 import gymnasium as gym
@@ -69,6 +69,18 @@ class ParallelSimConfig:
     reach_target_only: bool = True
     """Whether to only reach target without full action"""
 
+    # Camera settings
+    camera_eye: list[float] = field(default_factory=lambda: [0.9, 0.0, 1.1])
+    """Camera eye position [x, y, z] in global coordiante system"""
+    camera_target_pt: list[float] = field(
+        default_factory=lambda: [0.0, 0.0, 0.9]
+    )
+    """Camera target(look-at) point [x, y, z] in global coordiante system"""
+    image_hw: list[int] = field(default_factory=lambda: [512, 512])
+    """Rendered image height and width [height, width]"""
+    fovy_deg: float = 75
+    """Camera vertical field of view in degrees"""
+
 
 def entrypoint(**kwargs):
     if kwargs is None or len(kwargs) == 0:
@@ -83,6 +95,12 @@ def entrypoint(**kwargs):
         enable_shadow=cfg.enable_shadow,
         layout_file=cfg.layout_file,
         control_mode=cfg.control_mode,
+        camera_cfg=dict(
+            camera_eye=cfg.camera_eye,
+            camera_target_pt=cfg.camera_target_pt,
+            image_hw=cfg.image_hw,
+            fovy_deg=cfg.fovy_deg,
+        ),
     )
     env = RecordEpisode(
         env,
diff --git a/embodied_gen/scripts/simulate_sapien.py b/embodied_gen/scripts/simulate_sapien.py
index 01dcd7c..a4de98b 100644
--- a/embodied_gen/scripts/simulate_sapien.py
+++ b/embodied_gen/scripts/simulate_sapien.py
@@ -91,17 +91,16 @@ def entrypoint(**kwargs):
         fovy_deg=cfg.fovy_deg,
     )
     with open(cfg.layout_path, "r") as f:
-        layout_data = json.load(f)
-        layout_data: LayoutInfo = LayoutInfo.from_dict(layout_data)
+        layout_data: LayoutInfo = LayoutInfo.from_dict(json.load(f))
 
     actors = load_assets_from_layout_file(
         scene_manager.scene,
-        layout_data,
+        cfg.layout_path,
         cfg.z_offset,
         cfg.init_quat,
     )
     agent = load_mani_skill_robot(
-        scene_manager.scene, layout_data, cfg.control_freq
+        scene_manager.scene, cfg.layout_path, cfg.control_freq
     )
 
     frames = defaultdict(list)
@@ -134,8 +133,9 @@ def entrypoint(**kwargs):
     if "Foreground" not in cfg.render_keys:
         return
 
+    asset_root = os.path.dirname(cfg.layout_path)
     bg_node = layout_data.relation[Scene3DItemEnum.BACKGROUND.value]
-    gs_path = f"{layout_data.assets[bg_node]}/gs_model.ply"
+    gs_path = f"{asset_root}/{layout_data.assets[bg_node]}/gs_model.ply"
     gs_model: GaussianOperator = GaussianOperator.load_from_ply(gs_path)
     x, y, z, qx, qy, qz, qw = layout_data.position[bg_node]
     qx, qy, qz, qw = quaternion_multiply([qx, qy, qz, qw], cfg.init_quat)
diff --git a/embodied_gen/scripts/textto3d.py b/embodied_gen/scripts/textto3d.py
index 64475e3..4e96063 100644
--- a/embodied_gen/scripts/textto3d.py
+++ b/embodied_gen/scripts/textto3d.py
@@ -187,7 +187,7 @@ def text_to_3d(**kwargs) -> dict:
             logger.warning(
                 f"Node {node}, {TXTGEN_CHECKER.__class__.__name__}: {qa_result}"
             )
-            results["assets"][node] = f"{node_save_dir}/result"
+            results["assets"][node] = f"asset3d/{save_node}/result"
             results["quality"][node] = qa_result
 
             if qa_flag is None or qa_flag is True:
diff --git a/embodied_gen/utils/geometry.py b/embodied_gen/utils/geometry.py
index 92ea57f..cc48658 100644
--- a/embodied_gen/utils/geometry.py
+++ b/embodied_gen/utils/geometry.py
@@ -14,6 +14,7 @@
 # implied. See the License for the specific language governing
 # permissions and limitations under the License.
 
+import json
 import os
 import random
 from collections import defaultdict, deque
@@ -32,7 +33,6 @@ from embodied_gen.utils.enum import LayoutInfo, Scene3DItemEnum
 from embodied_gen.utils.log import logger
 
 __all__ = [
-    "bfs_placement",
     "with_seed",
     "matrix_to_pose",
     "pose_to_matrix",
@@ -222,7 +222,7 @@ def check_reachable(
 
 @with_seed("seed")
 def bfs_placement(
-    layout_info: LayoutInfo,
+    layout_file: str,
     floor_margin: float = 0,
     beside_margin: float = 0.1,
     max_attempts: int = 3000,
@@ -232,6 +232,8 @@ def bfs_placement(
     robot_dim: float = 0.12,
     seed: int = None,
 ) -> LayoutInfo:
+    layout_info = LayoutInfo.from_dict(json.load(open(layout_file, "r")))
+    asset_dir = os.path.dirname(layout_file)
     object_mapping = layout_info.objs_mapping
     position = {}  # node: [x, y, z, qx, qy, qz, qw]
     parent_bbox_xy = {}
@@ -254,6 +256,7 @@ def bfs_placement(
         mesh_path = (
             f"{layout_info.assets[node]}/mesh/{node.replace(' ', '_')}.obj"
         )
+        mesh_path = os.path.join(asset_dir, mesh_path)
         mesh_info[node]["path"] = mesh_path
         mesh = trimesh.load(mesh_path)
         vertices = mesh.vertices
diff --git a/embodied_gen/utils/monkey_patches.py b/embodied_gen/utils/monkey_patches.py
index 81076cd..b5d35cf 100644
--- a/embodied_gen/utils/monkey_patches.py
+++ b/embodied_gen/utils/monkey_patches.py
@@ -175,7 +175,7 @@ def monkey_patch_maniskill():
                 seg_labels = camera.get_obs(
                     rgb=False, depth=False, segmentation=True, position=False
                 )["segmentation"]
-                masks = np.where((seg_labels.cpu() > 0), 255, 0).astype(
+                masks = np.where((seg_labels.cpu() > 1), 255, 0).astype(
                     np.uint8
                 )
                 masks = torch.tensor(masks).to(color.device)
diff --git a/embodied_gen/utils/simulation.py b/embodied_gen/utils/simulation.py
index c069aaf..814719d 100644
--- a/embodied_gen/utils/simulation.py
+++ b/embodied_gen/utils/simulation.py
@@ -124,7 +124,7 @@ def load_actor_from_urdf(
 
 def load_assets_from_layout_file(
     scene: ManiSkillScene | sapien.Scene,
-    layout: LayoutInfo | str,
+    layout: str,
     z_offset: float = 0.0,
     init_quat: list[float] = [0, 0, 0, 1],
     env_idx: int = None,
@@ -133,19 +133,18 @@ def load_assets_from_layout_file(
 
     Args:
         scene (sapien.Scene | ManiSkillScene): The SAPIEN or ManiSkill scene to load assets into.
-        layout (LayoutInfo): The layout information data.
+        layout (str): The layout file path.
         z_offset (float): Offset to apply to the Z-coordinate of non-context objects.
         init_quat (List[float]): Initial quaternion (x, y, z, w) for orientation adjustment.
         env_idx (int): Environment index for multi-environment setup.
     """
-    if isinstance(layout, str) and layout.endswith(".json"):
-        layout = LayoutInfo.from_dict(json.load(open(layout, "r")))
-
+    asset_root = os.path.dirname(layout)
+    layout = LayoutInfo.from_dict(json.load(open(layout, "r")))
     actors = dict()
     for node in layout.assets:
         file_dir = layout.assets[node]
         file_name = f"{node.replace(' ', '_')}.urdf"
-        urdf_file = os.path.join(file_dir, file_name)
+        urdf_file = os.path.join(asset_root, file_dir, file_name)
 
         if layout.objs_mapping[node] == Scene3DItemEnum.BACKGROUND.value:
             continue