diff --git a/omnigibson/envs/env_base.py b/omnigibson/envs/env_base.py
index bae61a23f..51ebda492 100644
--- a/omnigibson/envs/env_base.py
+++ b/omnigibson/envs/env_base.py
@@ -538,7 +538,7 @@ def scene_config(self):
         Returns:
             dict: Scene-specific configuration kwargs
         """
-        return dict(self.config["scene"], robot_config_override=self.config["robots"])
+        return self.config["scene"]
 
     @property
     def robots_config(self):
diff --git a/omnigibson/scenes/interactive_traversable_scene.py b/omnigibson/scenes/interactive_traversable_scene.py
index cf014742b..d261cfb3d 100644
--- a/omnigibson/scenes/interactive_traversable_scene.py
+++ b/omnigibson/scenes/interactive_traversable_scene.py
@@ -34,7 +34,6 @@ def __init__(
         load_task_relevant_only=False,
         seg_map_resolution=0.1,
         include_robots=True,
-        override_robot_config=None
     ):
         """
         Args:
@@ -56,7 +55,6 @@ def __init__(
             load_task_relevant_only (bool): Whether only task relevant objects (and building structure) should be loaded
             seg_map_resolution (float): room segmentation map resolution
             include_robots (bool): whether to also include the robot(s) defined in the scene
-            override_robot_config (None or dict): if specified, this will override the robot config defined in the scene
         """
 
         # Store attributes from inputs
@@ -97,7 +95,6 @@ def __init__(
             num_waypoints=num_waypoints,
             waypoint_resolution=waypoint_resolution,
             use_floor_plane=False,
-            override_robot_config=override_robot_config,
         )
 
     def get_scene_loading_info(self, scene_model, scene_instance=None):
diff --git a/omnigibson/scenes/scene_base.py b/omnigibson/scenes/scene_base.py
index 0620114bd..c4ff28fd2 100644
--- a/omnigibson/scenes/scene_base.py
+++ b/omnigibson/scenes/scene_base.py
@@ -40,7 +40,6 @@ def __init__(
             floor_plane_visible=True,
             use_skybox=True,
             floor_plane_color=(1.0, 1.0, 1.0),
-            override_robot_config=None,
     ):
         """
         Args:
@@ -50,7 +49,6 @@ def __init__(
             floor_plane_visible (bool): whether to render the additionally added floor plane
             floor_plane_color (3-array): if @floor_plane_visible is True, this determines the (R,G,B) color assigned
                 to the generated floor plane
-            override_robot_config (None or dict): if specified, this will override the robot config defined in the scene
         """
         # Store internal variables
         self.scene_file = scene_file
@@ -63,7 +61,6 @@ def __init__(
         self._use_floor_plane = use_floor_plane
         self._floor_plane_visible = floor_plane_visible
         self._floor_plane_color = floor_plane_color
-        self._override_robot_config = override_robot_config
         self._floor_plane = None
         self._use_skybox = use_skybox
         self._skybox = None
diff --git a/omnigibson/scenes/traversable_scene.py b/omnigibson/scenes/traversable_scene.py
index b1c196461..f57f125bf 100644
--- a/omnigibson/scenes/traversable_scene.py
+++ b/omnigibson/scenes/traversable_scene.py
@@ -25,7 +25,6 @@ def __init__(
         use_floor_plane=True,
         floor_plane_visible=True,
         floor_plane_color=(1.0, 1.0, 1.0),
-        override_robot_config=None
     ):
         """
         Args:
@@ -42,7 +41,6 @@ def __init__(
             floor_plane_visible (bool): whether to render the additionally added floor plane
             floor_plane_color (3-array): if @floor_plane_visible is True, this determines the (R,G,B) color assigned
                 to the generated floor plane
-            override_robot_config (None or dict): if specified, this will override the robot config defined in the scene
         """
         log.info("TraversableScene model: {}".format(scene_model))
         self.scene_model = scene_model
@@ -62,7 +60,6 @@ def __init__(
             use_floor_plane=use_floor_plane,
             floor_plane_visible=floor_plane_visible,
             floor_plane_color=floor_plane_color,
-            override_robot_config=override_robot_config
         )
 
     @property
diff --git a/omnigibson/utils/python_utils.py b/omnigibson/utils/python_utils.py
index d00c51d5d..7fcdf146c 100644
--- a/omnigibson/utils/python_utils.py
+++ b/omnigibson/utils/python_utils.py
@@ -131,25 +131,18 @@ def get_init_info(self):
         return self._init_info
 
 
-def create_object_from_init_info(init_info, override_robot_config=None):
+def create_object_from_init_info(init_info):
     """
     Create a new object based on given init info.
 
     Args:
         init_info (dict): Nested dictionary that contains an object's init information.
-        override_robot_config (None or dict): If specified, will override the robot config specified in @init_info
 
     Returns:
         any: Newly created object.
     """
-    from omnigibson.robots.robot_base import BaseRobot
-
     module = import_module(init_info["class_module"])
     cls = getattr(module, init_info["class_name"])
-
-    if issubclass(cls, BaseRobot) and override_robot_config:
-        return cls(**override_robot_config)
-
     return cls(**init_info["args"], **init_info.get("kwargs", {}))