diff --git a/source/isaaclab_tasks/changelog.d/fix-reorient-replication.rst b/source/isaaclab_tasks/changelog.d/fix-reorient-replication.rst
new file mode 100644
index 00000000000..7c3a2e094e0
--- /dev/null
+++ b/source/isaaclab_tasks/changelog.d/fix-reorient-replication.rst
@@ -0,0 +1,5 @@
+Fixed
+^^^^^
+
+* Fixed Shadow Hand reorientation scene setup authoring every environment before
+  backend replication.
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_common.py b/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_common.py
index 74c4f0f3db7..02a75c7d791 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_common.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_common.py
@@ -154,22 +154,30 @@ class ShadowHandManagerEventPresetCfg(PresetCfg):
 
 @configclass
 class ShadowHandRobotCfg(PresetCfg):
-    physx = SHADOW_HAND_CFG.replace(prim_path="/World/envs/env_.*/Robot").replace(
+    physx = SHADOW_HAND_CFG.replace(
+        prim_path="/World/envs/env_.*/Robot",
+        spawn=SHADOW_HAND_CFG.spawn.replace(spawn_path="/World/envs/env_0/Robot"),
         init_state=ArticulationCfg.InitialStateCfg(
             pos=(0.0, 0.0, 0.5),
             rot=(0.0, 0.0, 0.0, 1.0),
             joint_pos={".*": 0.0},
-        )
+        ),
     )
     isaacsim_physx = physx
     # Newton robot lives in the asset (see isaaclab_assets.robots.shadow_hand); reorient
     # uses its default gains. The handover task consumes the same asset cfg and overrides
     # only the finger gains.
-    newton_mjwarp = SHADOW_HAND_NEWTON_CFG.replace(prim_path="/World/envs/env_.*/Robot")
+    newton_mjwarp = SHADOW_HAND_NEWTON_CFG.replace(
+        prim_path="/World/envs/env_.*/Robot",
+        spawn=SHADOW_HAND_NEWTON_CFG.spawn.replace(spawn_path="/World/envs/env_0/Robot"),
+    )
     ovphysx = SHADOW_HAND_CFG.replace(
         prim_path="/World/envs/env_.*/Robot",
         # OVPhysX does not expose the fixed-tendon runtime API, so spawn without tendon overrides.
-        spawn=SHADOW_HAND_CFG.spawn.replace(fixed_tendons_props=None),
+        spawn=SHADOW_HAND_CFG.spawn.replace(
+            spawn_path="/World/envs/env_0/Robot",
+            fixed_tendons_props=None,
+        ),
         init_state=ArticulationCfg.InitialStateCfg(
             pos=(0.0, 0.0, 0.5),
             rot=(0.0, 0.0, 0.0, 1.0),
@@ -182,6 +190,7 @@ class ShadowHandRobotCfg(PresetCfg):
 CUBE_CFG = RigidObjectCfg(
     prim_path="/World/envs/env_.*/object",
     spawn=sim_utils.UsdFileCfg(
+        spawn_path="/World/envs/env_0/object",
         usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Blocks/DexCube/dex_cube_instanceable.usd",
         rigid_props=sim_utils.RigidBodyPropertiesCfg(
             kinematic_enabled=False,
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_direct_camera_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_direct_camera_env_cfg.py
index ceeaa6a5d8c..02137ce8d73 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_direct_camera_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_direct_camera_env_cfg.py
@@ -75,7 +75,11 @@ class _ShadowHandBaseTiledCameraCfg(CameraCfg):
     )
     data_types: list[str] = []
     spawn: sim_utils.PinholeCameraCfg = sim_utils.PinholeCameraCfg(
-        focal_length=24.0, focus_distance=400.0, horizontal_aperture=20.955, clipping_range=(0.1, 20.0)
+        spawn_path="/World/envs/env_0/Camera",
+        focal_length=24.0,
+        focus_distance=400.0,
+        horizontal_aperture=20.955,
+        clipping_range=(0.1, 20.0),
     )
     width: int = 120
     height: int = 120