diff --git a/source/unitree_rl_lab/unitree_rl_lab/tasks/locomotion/robots/g1/29dof/velocity_env_cfg.py b/source/unitree_rl_lab/unitree_rl_lab/tasks/locomotion/robots/g1/29dof/velocity_env_cfg.py
index ea9b65ba..bca94441 100644
--- a/source/unitree_rl_lab/unitree_rl_lab/tasks/locomotion/robots/g1/29dof/velocity_env_cfg.py
+++ b/source/unitree_rl_lab/unitree_rl_lab/tasks/locomotion/robots/g1/29dof/velocity_env_cfg.py
@@ -401,6 +401,7 @@ class RobotPlayEnvCfg(RobotEnvCfg):
     def __post_init__(self):
         super().__post_init__()
         self.scene.num_envs = 32
-        self.scene.terrain.terrain_generator.num_rows = 2
-        self.scene.terrain.terrain_generator.num_cols = 10
+        if self.scene.terrain.terrain_generator is not None:
+            self.scene.terrain.terrain_generator.num_rows = 2
+            self.scene.terrain.terrain_generator.num_cols = 10
         self.commands.base_velocity.ranges = self.commands.base_velocity.limit_ranges
diff --git a/source/unitree_rl_lab/unitree_rl_lab/tasks/locomotion/robots/go2/velocity_env_cfg.py b/source/unitree_rl_lab/unitree_rl_lab/tasks/locomotion/robots/go2/velocity_env_cfg.py
index 7496d767..67295879 100644
--- a/source/unitree_rl_lab/unitree_rl_lab/tasks/locomotion/robots/go2/velocity_env_cfg.py
+++ b/source/unitree_rl_lab/unitree_rl_lab/tasks/locomotion/robots/go2/velocity_env_cfg.py
@@ -410,6 +410,7 @@ class RobotPlayEnvCfg(RobotEnvCfg):
     def __post_init__(self):
         super().__post_init__()
         self.scene.num_envs = 32
-        self.scene.terrain.terrain_generator.num_rows = 2
-        self.scene.terrain.terrain_generator.num_cols = 1
+        if self.scene.terrain.terrain_generator is not None:
+            self.scene.terrain.terrain_generator.num_rows = 2
+            self.scene.terrain.terrain_generator.num_cols = 1
         self.commands.base_velocity.ranges = self.commands.base_velocity.limit_ranges
diff --git a/source/unitree_rl_lab/unitree_rl_lab/tasks/locomotion/robots/h1/velocity_env_cfg.py b/source/unitree_rl_lab/unitree_rl_lab/tasks/locomotion/robots/h1/velocity_env_cfg.py
index 9241aa41..1df969e2 100644
--- a/source/unitree_rl_lab/unitree_rl_lab/tasks/locomotion/robots/h1/velocity_env_cfg.py
+++ b/source/unitree_rl_lab/unitree_rl_lab/tasks/locomotion/robots/h1/velocity_env_cfg.py
@@ -415,6 +415,7 @@ class RobotPlayEnvCfg(RobotEnvCfg):
     def __post_init__(self):
         super().__post_init__()
         self.scene.num_envs = 32
-        self.scene.terrain.terrain_generator.num_rows = 2
-        self.scene.terrain.terrain_generator.num_cols = 10
+        if self.scene.terrain.terrain_generator is not None:
+            self.scene.terrain.terrain_generator.num_rows = 2
+            self.scene.terrain.terrain_generator.num_cols = 10
         self.commands.base_velocity.ranges = self.commands.base_velocity.limit_ranges