diff --git a/robosuite/robots/fixed_base_robot.py b/robosuite/robots/fixed_base_robot.py
index 430bc5fd59..fdb761364a 100644
--- a/robosuite/robots/fixed_base_robot.py
+++ b/robosuite/robots/fixed_base_robot.py
@@ -6,6 +6,7 @@
 
 import robosuite.utils.transform_utils as T
 from robosuite.controllers import composite_controller_factory
+from robosuite.controllers.parts.generic import JointPositionController, JointTorqueController, JointVelocityController
 from robosuite.robots.robot import Robot
 
 
@@ -118,6 +119,15 @@ def setup_references(self):
             self.eef_site_id[arm] = self.sim.model.site_name2id(self.gripper[arm].important_sites["grip_site"])
             self.eef_cylinder_id[arm] = self.sim.model.site_name2id(self.gripper[arm].important_sites["grip_cylinder"])
 
+        self._ref_actuator_to_joint_id = np.ones(self.sim.model.nu).astype(np.int32) * (-1)
+        for part_name, actuator_ids in self._ref_actuators_indexes_dict.items():
+            self._ref_actuator_to_joint_id[actuator_ids] = np.array(
+                [
+                    self._ref_joints_indexes_dict[part_name].index(self.sim.model.actuator_trnid[i, 0])
+                    for i in actuator_ids
+                ]
+            )
+
     def control(self, action, policy_step=False):
         """
         Actuate the robot with the
@@ -149,8 +159,21 @@ 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]
+
+            part_controllers = self.composite_controller.get_controller(part_name)
+            if (
+                isinstance(part_controllers, JointPositionController)
+                or isinstance(part_controllers, JointVelocityController)
+                or isinstance(part_controllers, JointTorqueController)
+            ):
+                # select only the joints that are actuated
+                actuated_joint_indexes = self._ref_actuator_to_joint_id[actuator_indexes]
+                applied_action = applied_action[actuated_joint_indexes]
+
+            applied_action = np.clip(applied_action / actuator_gears, applied_action_low, applied_action_high)
+            self.sim.data.ctrl[actuator_indexes] = applied_action
 
         if policy_step:
             # Update proprioceptive values
diff --git a/robosuite/robots/legged_robot.py b/robosuite/robots/legged_robot.py
index 8d89431b5d..267ae4f012 100644
--- a/robosuite/robots/legged_robot.py
+++ b/robosuite/robots/legged_robot.py
@@ -8,6 +8,7 @@
 
 import robosuite.utils.transform_utils as T
 from robosuite.controllers import composite_controller_factory, load_part_controller_config
+from robosuite.controllers.parts.generic import JointPositionController, JointTorqueController, JointVelocityController
 from robosuite.models.bases.leg_base_model import LegBaseModel
 from robosuite.robots.mobile_robot import MobileRobot
 from robosuite.utils.log_utils import ROBOSUITE_DEFAULT_LOGGER
@@ -188,6 +189,17 @@ def control(self, action, policy_step=False):
             applied_action_high = self.sim.model.actuator_ctrlrange[self._ref_actuators_indexes_dict[part_name], 1]
             actuator_indexes = self._ref_actuators_indexes_dict[part_name]
             actuator_gears = self.sim.model.actuator_gear[actuator_indexes, 0]
+
+            part_controllers = self.composite_controller.get_controller(part_name)
+            if (
+                isinstance(part_controllers, JointPositionController)
+                or isinstance(part_controllers, JointVelocityController)
+                or isinstance(part_controllers, JointTorqueController)
+            ):
+                # select only the joints that are actuated
+                actuated_joint_indexes = self._ref_actuator_to_joint_id[actuator_indexes]
+                applied_action = applied_action[actuated_joint_indexes]
+
             applied_action = np.clip(applied_action / actuator_gears, applied_action_low, applied_action_high)
             self.sim.data.ctrl[actuator_indexes] = applied_action
 
diff --git a/robosuite/robots/mobile_robot.py b/robosuite/robots/mobile_robot.py
index 60c28bf35d..74ab9520e0 100644
--- a/robosuite/robots/mobile_robot.py
+++ b/robosuite/robots/mobile_robot.py
@@ -266,6 +266,15 @@ def setup_references(self):
             self.sim.model.joint_name2id(joint) for joint in self.robot_model.head_joints
         ]
 
+        self._ref_actuator_to_joint_id = np.ones(self.sim.model.nu).astype(np.int32) * (-1)
+        for part_name, actuator_ids in self._ref_actuators_indexes_dict.items():
+            self._ref_actuator_to_joint_id[actuator_ids] = np.array(
+                [
+                    self._ref_joints_indexes_dict[part_name].index(self.sim.model.actuator_trnid[i, 0])
+                    for i in actuator_ids
+                ]
+            )
+
     def control(self, action, policy_step=False):
         """
         Actuate the robot with the
diff --git a/robosuite/robots/robot.py b/robosuite/robots/robot.py
index bc1faca82b..44c953a95e 100644
--- a/robosuite/robots/robot.py
+++ b/robosuite/robots/robot.py
@@ -130,6 +130,7 @@ def __init__(
 
         self._ref_actuators_indexes_dict = {}
         self._ref_joints_indexes_dict = {}
+        self._ref_actuator_to_joint_id = None
 
         self._enabled_parts = {}
         self.composite_controller = None
diff --git a/robosuite/robots/wheeled_robot.py b/robosuite/robots/wheeled_robot.py
index 88cbd4265a..f40a804a35 100644
--- a/robosuite/robots/wheeled_robot.py
+++ b/robosuite/robots/wheeled_robot.py
@@ -6,6 +6,7 @@
 
 import robosuite.utils.transform_utils as T
 from robosuite.controllers import composite_controller_factory
+from robosuite.controllers.parts.generic import JointPositionController, JointTorqueController, JointVelocityController
 from robosuite.robots.mobile_robot import MobileRobot
 from robosuite.utils.log_utils import ROBOSUITE_DEFAULT_LOGGER
 
@@ -124,8 +125,21 @@ 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]
+
+            part_controllers = self.composite_controller.get_controller(part_name)
+            if (
+                isinstance(part_controllers, JointPositionController)
+                or isinstance(part_controllers, JointVelocityController)
+                or isinstance(part_controllers, JointTorqueController)
+            ):
+                # select only the joints that are actuated
+                actuated_joint_indexes = self._ref_actuator_to_joint_id[actuator_indexes]
+                applied_action = applied_action[actuated_joint_indexes]
+
+            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: