diff --git a/test/test_libs.py b/test/test_libs.py
index 2861e24c3f6..7ddb0d4fc02 100644
--- a/test/test_libs.py
+++ b/test/test_libs.py
@@ -3396,10 +3396,11 @@ class TestRoboHive:
     # In the CI, robohive should not coexist with other libs so that's fine.
     # Robohive logging behaviour can be controlled via ROBOHIVE_VERBOSITY=ALL/INFO/(WARN)/ERROR/ONCE/ALWAYS/SILENT
     @pytest.mark.parametrize("from_pixels", [False, True])
+    @pytest.mark.parametrize("from_depths", [False, True])
     @pytest.mark.parametrize("envname", RoboHiveEnv.available_envs)
-    def test_robohive(self, envname, from_pixels):
+    def test_robohive(self, envname, from_pixels, from_depths):
         with set_gym_backend("gymnasium"):
-            torchrl_logger.info(f"{envname}-{from_pixels}")
+            torchrl_logger.info(f"{envname}-{from_pixels}-{from_depths}")
             if any(
                 substr in envname for substr in ("_vr3m", "_vrrl", "_vflat", "_vvc1s")
             ):
@@ -3415,7 +3416,7 @@ def test_robohive(self, envname, from_pixels):
                 torchrl_logger.info("no camera")
                 return
             try:
-                env = RoboHiveEnv(envname, from_pixels=from_pixels)
+                env = RoboHiveEnv(envname, from_pixels=from_pixels, from_depths=from_depths)
             except AttributeError as err:
                 if "'MjData' object has no attribute 'get_body_xipos'" in str(err):
                     torchrl_logger.info("tcdm are broken")
diff --git a/torchrl/envs/libs/robohive.py b/torchrl/envs/libs/robohive.py
index 30132b931c7..5e5c8f52393 100644
--- a/torchrl/envs/libs/robohive.py
+++ b/torchrl/envs/libs/robohive.py
@@ -237,8 +237,6 @@ def register_visual_env(cls, env_name, cams, from_depths):
             cams = sorted(cams)
             cams_rep = [i.replace("A:", "A_") for i in cams]
             new_env_name = "-".join([cam[:-3] for cam in cams_rep] + [env_name])
-            if new_env_name in cls.env_list:
-                return new_env_name
             visual_keys = [f"rgb:{c}:224x224:2d" for c in cams]
             if from_depths:
                 visual_keys.extend([f"d:{c}:224x224:2d" for c in cams])