diff --git a/docs/source/features/environments.rst b/docs/source/features/environments.rst
index 7e9c142b63..ee083cded9 100644
--- a/docs/source/features/environments.rst
+++ b/docs/source/features/environments.rst
@@ -165,14 +165,14 @@ Environments based on legged locomotion tasks.
 .. |velocity-flat-anymal-d-link| replace:: `Isaac-Velocity-Flat-Anymal-D-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/anymal_d/flat_env_cfg.py>`__
 .. |velocity-rough-anymal-d-link| replace:: `Isaac-Velocity-Rough-Anymal-D-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/anymal_d/rough_env_cfg.py>`__
 
-.. |velocity-flat-unitree-a1-link| replace:: `Isaac-Velocity-Flat-Unitree-A1-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/unitree_a1/flat_env_cfg.py>`__
-.. |velocity-rough-unitree-a1-link| replace:: `Isaac-Velocity-Rough-Unitree-A1-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/unitree_a1/rough_env_cfg.py>`__
+.. |velocity-flat-unitree-a1-link| replace:: `Isaac-Velocity-Flat-Unitree-A1-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/a1/flat_env_cfg.py>`__
+.. |velocity-rough-unitree-a1-link| replace:: `Isaac-Velocity-Rough-Unitree-A1-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/a1/rough_env_cfg.py>`__
 
-.. |velocity-flat-unitree-go1-link| replace:: `Isaac-Velocity-Flat-Unitree-Go1-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/unitree_go1/flat_env_cfg.py>`__
-.. |velocity-rough-unitree-go1-link| replace:: `Isaac-Velocity-Rough-Unitree-Go1-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/unitree_go1/rough_env_cfg.py>`__
+.. |velocity-flat-unitree-go1-link| replace:: `Isaac-Velocity-Flat-Unitree-Go1-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/go1/flat_env_cfg.py>`__
+.. |velocity-rough-unitree-go1-link| replace:: `Isaac-Velocity-Rough-Unitree-Go1-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/go1/rough_env_cfg.py>`__
 
-.. |velocity-flat-unitree-go2-link| replace:: `Isaac-Velocity-Flat-Unitree-Go2-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/unitree_go2/flat_env_cfg.py>`__
-.. |velocity-rough-unitree-go2-link| replace:: `Isaac-Velocity-Rough-Unitree-Go2-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/unitree_go2/rough_env_cfg.py>`__
+.. |velocity-flat-unitree-go2-link| replace:: `Isaac-Velocity-Flat-Unitree-Go2-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/go2/flat_env_cfg.py>`__
+.. |velocity-rough-unitree-go2-link| replace:: `Isaac-Velocity-Rough-Unitree-Go2-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/go2/rough_env_cfg.py>`__
 
 .. |velocity-flat-spot-link| replace:: `Isaac-Velocity-Flat-Spot-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/spot/flat_env_cfg.py>`__