Remove remaining joints and fix actuator computation

robosuite/models/robots/manipulators/legged_manipulator_model.py

@@ -35,6 +35,12 @@ def _remove_joint_actuation(self, part_name):
                 parent_body = find_parent(self.actuator, motor)
                 parent_body.remove(motor)
                 self._actuators.remove(motor.get("name").replace(self.naming_prefix, ""))
+        for fixed in self.tendon.findall(".//fixed"):
+            for joint in fixed.findall(".//joint"):
+                if part_name in joint.get("joint"):
+                    parent_body = find_parent(self.tendon, fixed)
+                    parent_body.remove(fixed)
+                    break
 
     def _remove_free_joint(self):
         # remove freejoint

robosuite/robots/legged_robot.py

@@ -188,7 +188,8 @@ def control(self, action, policy_step=False):
             applied_action_high = self.sim.model.actuator_ctrlrange[self._ref_actuators_indexes_dict[part_name], 1]
             applied_action = np.clip(applied_action, applied_action_low, applied_action_high)
 
-            self.sim.data.ctrl[self._ref_actuators_indexes_dict[part_name]] = applied_action
+            actuators_indexes = self._ref_actuators_indexes_dict[part_name]
+            self.sim.data.ctrl[actuators_indexes] = applied_action / self.sim.model.actuator_gear[actuators_indexes, 0]
 
         # If this is a policy step, also update buffers holding recent values of interest
         if policy_step: