diff --git a/robosuite/controllers/parts/generic/joint_vel.py b/robosuite/controllers/parts/generic/joint_vel.py
index 31958e6cc5..e342d90312 100644
--- a/robosuite/controllers/parts/generic/joint_vel.py
+++ b/robosuite/controllers/parts/generic/joint_vel.py
@@ -124,7 +124,7 @@ def __init__(
         self.current_vel = np.zeros(self.joint_dim)  # Current velocity setpoint, pre-compensation
         self.torques = None  # Torques returned every time run_controller is called
 
-        self.torque_compensation = kwargs.get("use_torque_compensation", True)
+        self.use_torque_compensation = kwargs.get("use_torque_compensation", True)
 
     def set_goal(self, velocities):
         """
@@ -189,7 +189,7 @@ def run_controller(self):
             self.summed_err += err
 
         # Compute command torques via PID velocity controller plus gravity compensation torques
-        if self.torque_compensation:
+        if self.use_torque_compensation:
             torques = (
                 self.kp * err + self.ki * self.summed_err + self.kd * self.derr_buf.average + self.torque_compensation
             )