diff --git a/exts/robot_lab/robot_lab/tasks/locomotion/velocity/config/anymal_d/rough_env_cfg.py b/exts/robot_lab/robot_lab/tasks/locomotion/velocity/config/anymal_d/rough_env_cfg.py
index 47136d6..04afd3d 100644
--- a/exts/robot_lab/robot_lab/tasks/locomotion/velocity/config/anymal_d/rough_env_cfg.py
+++ b/exts/robot_lab/robot_lab/tasks/locomotion/velocity/config/anymal_d/rough_env_cfg.py
@@ -74,8 +74,6 @@ def __post_init__(self):
         self.rewards.joint_vel_limits.weight = 0
 
         # Action penalties
-        self.rewards.applied_torque_limits.weight = 0
-        self.rewards.applied_torque_limits.params["asset_cfg"].body_names = ["base"]
         self.rewards.action_rate_l2.weight = -0.01
         # UNUESD self.rewards.action_l2.weight = 0.0
 
diff --git a/exts/robot_lab/robot_lab/tasks/locomotion/velocity/config/fftai_gr1t1/rough_env_cfg.py b/exts/robot_lab/robot_lab/tasks/locomotion/velocity/config/fftai_gr1t1/rough_env_cfg.py
index 7f63998..2aaf3a8 100644
--- a/exts/robot_lab/robot_lab/tasks/locomotion/velocity/config/fftai_gr1t1/rough_env_cfg.py
+++ b/exts/robot_lab/robot_lab/tasks/locomotion/velocity/config/fftai_gr1t1/rough_env_cfg.py
@@ -80,7 +80,6 @@ def __post_init__(self):
         self.rewards.joint_vel_limits.weight = 0
 
         # Action penalties
-        self.rewards.applied_torque_limits.weight = 0
         self.rewards.action_rate_l2.weight = -0.005
         # UNUESD self.rewards.action_l2.weight = 0.0
 
diff --git a/exts/robot_lab/robot_lab/tasks/locomotion/velocity/config/unitree_a1/rough_env_cfg.py b/exts/robot_lab/robot_lab/tasks/locomotion/velocity/config/unitree_a1/rough_env_cfg.py
index 12ef464..0cf470a 100644
--- a/exts/robot_lab/robot_lab/tasks/locomotion/velocity/config/unitree_a1/rough_env_cfg.py
+++ b/exts/robot_lab/robot_lab/tasks/locomotion/velocity/config/unitree_a1/rough_env_cfg.py
@@ -86,8 +86,6 @@ def __post_init__(self):
         self.rewards.joint_vel_limits.weight = 0
 
         # Action penalties
-        self.rewards.applied_torque_limits.weight = 0
-        self.rewards.applied_torque_limits.params["asset_cfg"].body_names = ["trunk"]
         self.rewards.action_rate_l2.weight = -0.01
         # UNUESD self.rewards.action_l2.weight = 0.0
 
diff --git a/exts/robot_lab/robot_lab/tasks/locomotion/velocity/config/unitree_a1_amp/rough_env_cfg.py b/exts/robot_lab/robot_lab/tasks/locomotion/velocity/config/unitree_a1_amp/rough_env_cfg.py
index bcf7011..46bddd0 100644
--- a/exts/robot_lab/robot_lab/tasks/locomotion/velocity/config/unitree_a1_amp/rough_env_cfg.py
+++ b/exts/robot_lab/robot_lab/tasks/locomotion/velocity/config/unitree_a1_amp/rough_env_cfg.py
@@ -77,7 +77,6 @@ def __post_init__(self):
         self.rewards.joint_vel_limits.weight = 0
 
         # Action penalties
-        self.rewards.applied_torque_limits.weight = 0
         self.rewards.action_rate_l2.weight = 0
         # UNUESD self.rewards.action_l2.weight = 0.0
 
diff --git a/exts/robot_lab/robot_lab/tasks/locomotion/velocity/config/unitree_go2w/rough_env_cfg.py b/exts/robot_lab/robot_lab/tasks/locomotion/velocity/config/unitree_go2w/rough_env_cfg.py
index 353ab4d..e4173c6 100644
--- a/exts/robot_lab/robot_lab/tasks/locomotion/velocity/config/unitree_go2w/rough_env_cfg.py
+++ b/exts/robot_lab/robot_lab/tasks/locomotion/velocity/config/unitree_go2w/rough_env_cfg.py
@@ -84,8 +84,6 @@ def __post_init__(self):
         self.rewards.joint_vel_limits.weight = 0
 
         # Action penalties
-        self.rewards.applied_torque_limits.weight = 0
-        self.rewards.applied_torque_limits.params["asset_cfg"].body_names = ["base"]
         self.rewards.action_rate_l2.weight = -0.01
         # UNUESD self.rewards.action_l2.weight = 0.0
 
diff --git a/exts/robot_lab/robot_lab/tasks/locomotion/velocity/config/unitree_h1/rough_env_cfg.py b/exts/robot_lab/robot_lab/tasks/locomotion/velocity/config/unitree_h1/rough_env_cfg.py
index e6e779d..d4ca91a 100644
--- a/exts/robot_lab/robot_lab/tasks/locomotion/velocity/config/unitree_h1/rough_env_cfg.py
+++ b/exts/robot_lab/robot_lab/tasks/locomotion/velocity/config/unitree_h1/rough_env_cfg.py
@@ -76,7 +76,6 @@ def __post_init__(self):
         self.rewards.joint_vel_limits.weight = 0
 
         # Action penalties
-        self.rewards.applied_torque_limits.weight = 0
         self.rewards.action_rate_l2.weight = -0.005
         # UNUESD self.rewards.action_l2.weight = 0.0