diff --git a/src/dm_robotics/panda/environment.py b/src/dm_robotics/panda/environment.py
index 6d4bd2d..b193894 100644
--- a/src/dm_robotics/panda/environment.py
+++ b/src/dm_robotics/panda/environment.py
@@ -98,7 +98,8 @@ def build_task_environment(self) -> subtask_env.SubTaskEnvironment:
   def add_props(self, props: Sequence[prop.Prop]):
     self._props.extend(props)
     for p in self._props:
-      self._arena.add_free_entity(p)
+      frame = self._arena.add_free_entity(p)
+      p.set_freejoint(frame.freejoint)
 
   def add_entity_initializers(
       self,