diff --git a/myosuite/envs/myo/myobase/__init__.py b/myosuite/envs/myo/myobase/__init__.py
index 2cd35e75..44e1a808 100644
--- a/myosuite/envs/myo/myobase/__init__.py
+++ b/myosuite/envs/myo/myobase/__init__.py
@@ -290,7 +290,7 @@ def register_env_with_variants(id, entry_point, max_episode_steps, kwargs):
 if sim_backend == SimBackend.MUJOCO_PY:
     leg_model='/../../../simhive/myo_sim/leg/myolegs_v0.54(mj210).mjb'
 elif sim_backend == SimBackend.MUJOCO:
-    leg_model='/../../../simhive/myo_sim/leg/myolegs_v0.54(mj236).mjb'
+    leg_model='/../../../simhive/myo_sim/leg/myolegs_v0.55(mj236).mjb'
 
 register_env_with_variants(id='myoLegReachFixed-v0',
         entry_point='myosuite.envs.myo.myobase.walk_v0:ReachEnvV0',
diff --git a/myosuite/simhive/myo_sim b/myosuite/simhive/myo_sim
index 7b6b829d..1758d66a 160000
--- a/myosuite/simhive/myo_sim
+++ b/myosuite/simhive/myo_sim
@@ -1 +1 @@
-Subproject commit 7b6b829dc5380df131a5a3932a71bb82ee58415b
+Subproject commit 1758d66ad066542e87ed2fa4ffc69121195aba2c