diff --git a/myosuite/envs/myo/assets/arm/myoarm_reach.xml b/myosuite/envs/myo/assets/arm/myoarm_reach.xml
index 4bc89258..f9f828e0 100755
--- a/myosuite/envs/myo/assets/arm/myoarm_reach.xml
+++ b/myosuite/envs/myo/assets/arm/myoarm_reach.xml
@@ -1,13 +1,13 @@
-<mujoco model="MyoArm_v0.01">
+<mujoco model="MyoArm_NoHand_v0.01">
 <!-- =================================================
     Copyright 2020 Vikash Kumar, Vittorio Caggiano, Guillaume Durandau
-    Model   :: Myo Hand (MuJoCoV2.0)
+    Model   :: Myo Arm No Hand (MuJoCoV2.0)
     Author  :: Vikash Kumar (vikashplus@gmail.com), Vittorio Caggiano, Huawei Wang
     source  :: https://github.com/vikashplus
     License :: Under Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
 ====================================================== -->
 
-    <include file="../../../../simhive/myo_sim/arm/assets/myoarm_assets.xml"/>
+    <include file="../../../../simhive/myo_sim/arm/assets/myoarm_nohand_assets.xml"/>
     <include file="../../../../simhive/myo_sim/scene/myosuite_scene.xml"/>
     <compiler meshdir='../../../../simhive/myo_sim/' texturedir='../../../../simhive/myo_sim/'/>
 
@@ -20,11 +20,15 @@
         <!-- ======= MyoArm ======= -->
         <geom name="body" type="mesh" mesh="body_norighthand" euler="0 0 3.14" contype="0" conaffinity="0"/>
         <body name="full_body" pos="-.025 0.1 1.40">
-            <include file="../../../../simhive/myo_sim/arm/assets/myoarm_body.xml"/>
+            <include file="../../../../simhive/myo_sim/arm/assets/myoarm_nohand_body.xml"/>
         </body>
 
-        <site name="S_grasp_target" pos="0 0 0.002" rgba="0 1 0 .3" size="0.02"/>
+        <site name="forearm_tip_target" pos="0 0.002 0" rgba="0 1 0 .3" size="0.02"/>
 
     </worldbody>
 
-</mujoco>
\ No newline at end of file
+    <keyframe>
+        <key qpos='-0.0866029 0.0366781 -0.0366812 0.0866049 -0.0175242 0.141704 0.0636844 -0.0636851 -0.141706 0.0175297 1.40579 0.357866 -1.40579 -0.287729 0 -0.267254'/>
+    </keyframe>
+
+</mujoco>
