diff --git a/source/isaaclab_tasks/changelog.d/fix-velocity-play-configs.rst b/source/isaaclab_tasks/changelog.d/fix-velocity-play-configs.rst
new file mode 100644
index 000000000000..b172fd6288f9
--- /dev/null
+++ b/source/isaaclab_tasks/changelog.d/fix-velocity-play-configs.rst
@@ -0,0 +1,6 @@
+Removed
+^^^^^^^
+
+* Removed per-robot ``play_mode()`` overrides from Cassie, G1, and H1 rough velocity
+  environment configs. The base :meth:`~isaaclab_tasks.core.velocity.LocomotionVelocityRoughEnvCfg.play_mode`
+  is now used directly without robot-specific command range overrides.
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/cassie/rough_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/cassie/rough_env_cfg.py
index 957cb8d0f614..ea76fc0fb5ff 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/cassie/rough_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/cassie/rough_env_cfg.py
@@ -82,10 +82,3 @@ def __post_init__(self):
         self.events.base_com = None
         self.events.base_external_force_torque.params["asset_cfg"].body_names = ".*pelvis"
         self.events.reset_robot_joints.params["position_range"] = (1.0, 1.0)
-
-    def play_mode(self):
-        super().play_mode()
-
-        self.commands.base_velocity.ranges.lin_vel_x = (0.7, 1.0)
-        self.commands.base_velocity.ranges.lin_vel_y = (0.0, 0.0)
-        self.commands.base_velocity.ranges.heading = (0.0, 0.0)
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/g1/rough_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/g1/rough_env_cfg.py
index 415b816c323a..034c26452100 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/g1/rough_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/g1/rough_env_cfg.py
@@ -139,12 +139,3 @@ def __post_init__(self):
         self.events.base_com = None
         self.events.base_external_force_torque.params["asset_cfg"].body_names = "torso_link"
         self.events.reset_robot_joints.params["position_range"] = (1.0, 1.0)
-
-    def play_mode(self):
-        super().play_mode()
-
-        self.episode_length_s = 40.0
-        self.commands.base_velocity.ranges.lin_vel_x = (1.0, 1.0)
-        self.commands.base_velocity.ranges.lin_vel_y = (0.0, 0.0)
-        self.commands.base_velocity.ranges.ang_vel_z = (-1.0, 1.0)
-        self.commands.base_velocity.ranges.heading = (0.0, 0.0)
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/h1/rough_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/h1/rough_env_cfg.py
index 417c0ebe3113..a378ebc15cb6 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/h1/rough_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/h1/rough_env_cfg.py
@@ -99,12 +99,3 @@ def __post_init__(self):
         self.events.reset_robot_joints.params["position_range"] = (1.0, 1.0)
         self.events.base_com = None
         self.events.base_external_force_torque.params["asset_cfg"].body_names = ".*torso_link"
-
-    def play_mode(self):
-        super().play_mode()
-
-        self.episode_length_s = 40.0
-        self.commands.base_velocity.ranges.lin_vel_x = (1.0, 1.0)
-        self.commands.base_velocity.ranges.lin_vel_y = (0.0, 0.0)
-        self.commands.base_velocity.ranges.ang_vel_z = (-1.0, 1.0)
-        self.commands.base_velocity.ranges.heading = (0.0, 0.0)
diff --git a/source/isaaclab_tasks/test/core/test_velocity_play_mode.py b/source/isaaclab_tasks/test/core/test_velocity_play_mode.py
deleted file mode 100644
index 1f5ba55d7e87..000000000000
--- a/source/isaaclab_tasks/test/core/test_velocity_play_mode.py
+++ /dev/null
@@ -1,31 +0,0 @@
-# Copyright (c) 2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
-# All rights reserved.
-#
-# SPDX-License-Identifier: BSD-3-Clause
-
-import pytest
-
-from isaaclab_tasks.core.velocity.config.cassie.rough_env_cfg import CassieRoughEnvCfg
-from isaaclab_tasks.core.velocity.config.g1.rough_env_cfg import G1RoughEnvCfg
-from isaaclab_tasks.core.velocity.config.h1.rough_env_cfg import H1RoughEnvCfg
-
-
-@pytest.mark.parametrize(
-    "cfg_type,lin_vel_x,episode_length_s",
-    [
-        (CassieRoughEnvCfg, (0.7, 1.0), 20.0),
-        (G1RoughEnvCfg, (1.0, 1.0), 40.0),
-        (H1RoughEnvCfg, (1.0, 1.0), 40.0),
-    ],
-)
-def test_velocity_play_mode_applies_task_overrides(cfg_type, lin_vel_x, episode_length_s):
-    cfg = cfg_type()
-
-    cfg.play_mode()
-
-    assert cfg.scene.num_envs == 50
-    assert cfg.observations.policy.enable_corruption is False
-    assert cfg.episode_length_s == episode_length_s
-    assert cfg.commands.base_velocity.ranges.lin_vel_x == lin_vel_x
-    assert cfg.commands.base_velocity.ranges.lin_vel_y == (0.0, 0.0)
-    assert cfg.commands.base_velocity.ranges.heading == (0.0, 0.0)