diff --git a/myosuite/envs/myo/myobase/walk_v0.py b/myosuite/envs/myo/myobase/walk_v0.py
index 730c393f..893abd14 100644
--- a/myosuite/envs/myo/myobase/walk_v0.py
+++ b/myosuite/envs/myo/myobase/walk_v0.py
@@ -62,6 +62,10 @@ def _setup(self,
         # Change the alpha value to make it transparent
         self.sim.model.geom_rgba[geom_1_indices, 3] = 0
 
+        # move heightfield down if not used
+        self.sim.model.geom_rgba[self.sim.model.geom_name2id('terrain')][-1] = 0.0
+        self.sim.model.geom_pos[self.sim.model.geom_name2id('terrain')] = np.array([0, 0, -10])
+
 
     def get_obs_dict(self, sim):
         obs_dict = {}
@@ -208,6 +212,10 @@ def _setup(self,
         self.init_qpos[:] = self.sim.model.key_qpos[0]
         self.init_qvel[:] = 0.0
 
+        # move heightfield down if not used
+        self.sim.model.geom_rgba[self.sim.model.geom_name2id('terrain')][-1] = 0.0
+        self.sim.model.geom_pos[self.sim.model.geom_name2id('terrain')] = np.array([0, 0, -10])
+
     def get_obs_dict(self, sim):
         obs_dict = {}
         obs_dict['t'] = np.array([sim.data.time])