diff --git a/robosuite/models/robots/manipulators/legged_manipulator_model.py b/robosuite/models/robots/manipulators/legged_manipulator_model.py
index b1c6b00625..f405b1d28e 100644
--- a/robosuite/models/robots/manipulators/legged_manipulator_model.py
+++ b/robosuite/models/robots/manipulators/legged_manipulator_model.py
@@ -41,6 +41,12 @@ def _remove_joint_actuation(self, part_name):
                     parent_body = find_parent(self.tendon, fixed)
                     parent_body.remove(fixed)
                     break
+        # remove joint in equality
+        for equality in self.equality.findall(".//joint"):
+            # If either joint1 or joint2 is the joint we want to remove
+            if part_name in equality.get("joint1") or part_name in equality.get("joint2"):
+                parent_body = find_parent(self.equality, equality)
+                parent_body.remove(equality)
 
     def _remove_free_joint(self):
         # remove freejoint