diff --git a/robosuite/models/robots/manipulators/legged_manipulator_model.py b/robosuite/models/robots/manipulators/legged_manipulator_model.py
index d2da70940b..b1c6b00625 100644
--- a/robosuite/models/robots/manipulators/legged_manipulator_model.py
+++ b/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
diff --git a/robosuite/robots/legged_robot.py b/robosuite/robots/legged_robot.py
index e48e496d46..8d89431b5d 100644
--- a/robosuite/robots/legged_robot.py
+++ b/robosuite/robots/legged_robot.py
@@ -186,9 +186,10 @@ def control(self, action, policy_step=False):
         for part_name, applied_action in applied_action_dict.items():
             applied_action_low = self.sim.model.actuator_ctrlrange[self._ref_actuators_indexes_dict[part_name], 0]
             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
+            actuator_indexes = self._ref_actuators_indexes_dict[part_name]
+            actuator_gears = self.sim.model.actuator_gear[actuator_indexes, 0]
+            applied_action = np.clip(applied_action / actuator_gears, applied_action_low, applied_action_high)
+            self.sim.data.ctrl[actuator_indexes] = applied_action
 
         # If this is a policy step, also update buffers holding recent values of interest
         if policy_step: