diff --git a/examples/ReducedDeformableDemo/BasicTest.cpp b/examples/ReducedDeformableDemo/BasicTest.cpp
index fcdad9930..d6b3b21cb 100644
--- a/examples/ReducedDeformableDemo/BasicTest.cpp
+++ b/examples/ReducedDeformableDemo/BasicTest.cpp
@@ -210,12 +210,7 @@ void BasicTest::initPhysics()
 
     // create volumetric reduced deformable body
     {   
-        std::string filepath("../../../examples/SoftDemo/beam/");
-        std::string filename = filepath + "mesh.vtk";
-        btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), filename.c_str());
-        
-        rsb->setReducedModes(start_mode, num_modes, rsb->m_nodes.size());
-        btReducedSoftBodyHelpers::readReducedDeformableInfoFromFiles(rsb, filepath.c_str());
+        btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedBeam(getDeformableDynamicsWorld()->getWorldInfo(), start_mode, num_modes);
 
         getDeformableDynamicsWorld()->addSoftBody(rsb);
         rsb->getCollisionShape()->setMargin(0.1);
@@ -246,10 +241,6 @@ void BasicTest::initPhysics()
         // rsb->setVelocity(btVector3(0, -COLLIDING_VELOCITY, 0));
         // rsb->setRigidVelocity(btVector3(0, 1, 0));
         // rsb->setRigidAngularVelocity(btVector3(1, 0, 0));
-        
-        // btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
-        // getDeformableDynamicsWorld()->addForce(rsb, gravity_force);
-        // m_forces.push_back(gravity_force);
     }
     getDeformableDynamicsWorld()->setImplicit(false);
     getDeformableDynamicsWorld()->setLineSearch(false);
diff --git a/examples/ReducedDeformableDemo/FreeFall.cpp b/examples/ReducedDeformableDemo/FreeFall.cpp
index ee6ae089a..54c810ae7 100644
--- a/examples/ReducedDeformableDemo/FreeFall.cpp
+++ b/examples/ReducedDeformableDemo/FreeFall.cpp
@@ -145,32 +145,19 @@ void FreeFall::initPhysics()
 
     // create volumetric reduced deformable body
     {   
-        std::string filepath("../../../examples/SoftDemo/beam/");
-        std::string filename = filepath + "mesh.vtk";
-        btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), filename.c_str());
-        
-        rsb->setReducedModes(start_mode, num_modes, rsb->m_nodes.size());
-        btReducedSoftBodyHelpers::readReducedDeformableInfoFromFiles(rsb, filepath.c_str());
+        btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedBeam(getDeformableDynamicsWorld()->getWorldInfo(), start_mode, num_modes);
 
         getDeformableDynamicsWorld()->addSoftBody(rsb);
         rsb->getCollisionShape()->setMargin(0.01);
 
         btTransform init_transform;
         init_transform.setIdentity();
-        // init_transform.setOrigin(btVector3(0, 2.5, 0));
         init_transform.setOrigin(btVector3(0, 10, 0));
-        // init_transform.setRotation(btQuaternion(0, SIMD_PI / 2.0, SIMD_PI / 2.0));
-        // init_transform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI / 6.0));
         init_transform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI / 2.0));
         rsb->transform(init_transform);
 
-        // rsb->setTotalMass(0.5);
         rsb->setStiffnessScale(50);
         rsb->setDamping(damping_alpha, damping_beta);
-        // rsb->setFriction(200);
-        
-        // no fixed nodes
-        // rsb->setFixedNodes(0);
 
         rsb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
         rsb->m_cfg.kCHR = 1; // collision hardness with rigid body
@@ -183,10 +170,6 @@ void FreeFall::initPhysics()
         // rsb->setVelocity(btVector3(0, -COLLIDING_VELOCITY, 0));
         // rsb->setRigidVelocity(btVector3(0, 0, 1));
         // rsb->setRigidAngularVelocity(btVector3(1, 0, 0));
-        
-        // btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
-        // getDeformableDynamicsWorld()->addForce(rsb, gravity_force);
-        // m_forces.push_back(gravity_force);
     }
     // create a static rigid box as the ground
     {
diff --git a/examples/ReducedDeformableDemo/FrictionSlope.cpp b/examples/ReducedDeformableDemo/FrictionSlope.cpp
index 4bae378fc..81de87b94 100644
--- a/examples/ReducedDeformableDemo/FrictionSlope.cpp
+++ b/examples/ReducedDeformableDemo/FrictionSlope.cpp
@@ -188,12 +188,7 @@ void FrictionSlope::initPhysics()
 
     // create volumetric reduced deformable body
     {   
-        std::string filepath("../../../examples/SoftDemo/beam/");
-        std::string filename = filepath + "mesh.vtk";
-        btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), filename.c_str());
-        
-        rsb->setReducedModes(start_mode, num_modes, rsb->m_nodes.size());
-        btReducedSoftBodyHelpers::readReducedDeformableInfoFromFiles(rsb, filepath.c_str());
+        btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedBeam(getDeformableDynamicsWorld()->getWorldInfo(), start_mode, num_modes);
 
         getDeformableDynamicsWorld()->addSoftBody(rsb);
         rsb->getCollisionShape()->setMargin(0.1);
diff --git a/examples/ReducedDeformableDemo/ModeVisualizer.cpp b/examples/ReducedDeformableDemo/ModeVisualizer.cpp
index 18ff2aa3c..b854ddd8b 100644
--- a/examples/ReducedDeformableDemo/ModeVisualizer.cpp
+++ b/examples/ReducedDeformableDemo/ModeVisualizer.cpp
@@ -119,12 +119,7 @@ void ModeVisualizer::initPhysics()
 
     // create volumetric soft body
     {
-      std::string filepath("../../../examples/SoftDemo/beam/");
-      std::string filename = filepath + "mesh.vtk";
-      btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), filename.c_str());
-      
-      rsb->setReducedModes(start_mode, num_modes, rsb->m_nodes.size());
-      btReducedSoftBodyHelpers::readReducedDeformableInfoFromFiles(rsb, filepath.c_str());
+      btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedBeam(getDeformableDynamicsWorld()->getWorldInfo(), start_mode, num_modes);
 
       getDeformableDynamicsWorld()->addSoftBody(rsb);
       rsb->getCollisionShape()->setMargin(0.1);
diff --git a/examples/ReducedDeformableDemo/ReducedCollide.cpp b/examples/ReducedDeformableDemo/ReducedCollide.cpp
index da8629c67..d053be92b 100644
--- a/examples/ReducedDeformableDemo/ReducedCollide.cpp
+++ b/examples/ReducedDeformableDemo/ReducedCollide.cpp
@@ -30,7 +30,7 @@
 // static btScalar E = 50;
 // static btScalar nu = 0.3;
 static btScalar damping_alpha = 0.0;
-static btScalar damping_beta = 0.0;
+static btScalar damping_beta = 0.0001;
 static btScalar COLLIDING_VELOCITY = 4;
 static int start_mode = 6;
 static int num_modes = 20;
@@ -56,10 +56,10 @@ public:
 
     void resetCamera()
     {
-        float dist = 15;
-        float pitch = -10;
+        float dist = 5;
+        float pitch = -5;
         float yaw = 90;
-        float targetPos[3] = {0, 3, 0};
+        float targetPos[3] = {0, 0, 0};
         m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
     }
     
@@ -86,28 +86,13 @@ public:
     {
         CommonDeformableBodyBase::renderScene();
         btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
-        // int flag = 0;
         
         for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
         {
             btReducedSoftBody* rsb = static_cast<btReducedSoftBody*>(deformableWorld->getSoftBodyArray()[i]);
             {
                 btSoftBodyHelpers::DrawFrame(rsb, deformableWorld->getDebugDrawer());
-                // btSoftBodyHelpers::Draw(rsb, deformableWorld->getDebugDrawer(), flag);
                 btSoftBodyHelpers::Draw(rsb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags()); 
-
-                for (int p = 0; p < rsb->m_fixedNodes.size(); ++p)
-                {
-                    deformableWorld->getDebugDrawer()->drawSphere(rsb->m_nodes[rsb->m_fixedNodes[p]].m_x, 0.2, btVector3(1, 0, 0));
-                }
-                for (int p = 0; p < rsb->m_nodeRigidContacts.size(); ++p)
-                {
-                    deformableWorld->getDebugDrawer()->drawSphere(rsb->m_nodes[rsb->m_contactNodesList[p]].m_x, 0.2, btVector3(0, 1, 0));
-                }
-
-                deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 0, 0), 0.1, btVector3(1, 1, 1));
-                deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 5, 0), 0.1, btVector3(1, 1, 1));
-                deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 10, 0), 0.1, btVector3(1, 1, 1));
             }
         }
     }
@@ -138,12 +123,7 @@ void ReducedCollide::initPhysics()
 
     // create volumetric reduced deformable body
     {   
-        std::string filepath("../../../examples/SoftDemo/cube/");
-        std::string filename = filepath + "mesh.vtk";
-        btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), filename.c_str());
-        
-        rsb->setReducedModes(start_mode, num_modes, rsb->m_nodes.size());
-        btReducedSoftBodyHelpers::readReducedDeformableInfoFromFiles(rsb, filepath.c_str());
+        btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedCube(getDeformableDynamicsWorld()->getWorldInfo(), start_mode, num_modes);
 
         getDeformableDynamicsWorld()->addSoftBody(rsb);
         rsb->getCollisionShape()->setMargin(0.01);
@@ -153,7 +133,7 @@ void ReducedCollide::initPhysics()
         init_transform.setOrigin(btVector3(0, 2, 0));
         rsb->transform(init_transform);
 
-        rsb->setStiffnessScale(50);
+        rsb->setStiffnessScale(25);
         rsb->setDamping(damping_alpha, damping_beta);
 
         rsb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
@@ -166,19 +146,15 @@ void ReducedCollide::initPhysics()
         
         rsb->setRigidVelocity(btVector3(0, -COLLIDING_VELOCITY, 0));
         // rsb->setRigidAngularVelocity(btVector3(1, 0, 0));
-        
-        // btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
-        // getDeformableDynamicsWorld()->addForce(rsb, gravity_force);
-        // m_forces.push_back(gravity_force);
     }
 
     getDeformableDynamicsWorld()->setImplicit(false);
     getDeformableDynamicsWorld()->setLineSearch(false);
-    getDeformableDynamicsWorld()->setUseProjection(true);
-    getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.3;
+    getDeformableDynamicsWorld()->setUseProjection(false);
+    getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.2;
     getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(200);
     getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-3;
-    getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = true;
+    getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = false;
     getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 100;
     // add a few rigid bodies
     Ctor_RbUpStack();
diff --git a/examples/ReducedDeformableDemo/ReducedGrasp.cpp b/examples/ReducedDeformableDemo/ReducedGrasp.cpp
index 39780f835..50b34a6dc 100644
--- a/examples/ReducedDeformableDemo/ReducedGrasp.cpp
+++ b/examples/ReducedDeformableDemo/ReducedGrasp.cpp
@@ -274,12 +274,7 @@ void ReducedGrasp::initPhysics()
 
     // create volumetric reduced deformable body
     {   
-        std::string filepath("../../../examples/SoftDemo/beam/");
-        std::string filename = filepath + "mesh.vtk";
-        btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), filename.c_str());
-        
-        rsb->setReducedModes(start_mode, num_modes, rsb->m_nodes.size());
-        btReducedSoftBodyHelpers::readReducedDeformableInfoFromFiles(rsb, filepath.c_str());
+        btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedBeam(getDeformableDynamicsWorld()->getWorldInfo(), start_mode, num_modes);
 
         getDeformableDynamicsWorld()->addSoftBody(rsb);
         rsb->getCollisionShape()->setMargin(0.015);
@@ -304,10 +299,6 @@ void ReducedGrasp::initPhysics()
         
         // rsb->setRigidVelocity(btVector3(0, -COLLIDING_VELOCITY, 0));
         // rsb->setRigidAngularVelocity(btVector3(1, 0, 0));
-        
-        // btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
-        // getDeformableDynamicsWorld()->addForce(rsb, gravity_force);
-        // m_forces.push_back(gravity_force);
     }
 
     getDeformableDynamicsWorld()->setImplicit(false);
diff --git a/examples/ReducedDeformableDemo/ReducedMotorGrasp.cpp b/examples/ReducedDeformableDemo/ReducedMotorGrasp.cpp
index f7597d6a9..1621a2127 100644
--- a/examples/ReducedDeformableDemo/ReducedMotorGrasp.cpp
+++ b/examples/ReducedDeformableDemo/ReducedMotorGrasp.cpp
@@ -304,12 +304,7 @@ void ReducedMotorGrasp::initPhysics()
 
 	// create volumetric reduced deformable body
     {   
-        std::string filepath("../../../examples/SoftDemo/beam/");
-        std::string filename = filepath + "mesh.vtk";
-        btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), filename.c_str());
-        
-        rsb->setReducedModes(start_mode, num_modes, rsb->m_nodes.size());
-        btReducedSoftBodyHelpers::readReducedDeformableInfoFromFiles(rsb, filepath.c_str());
+        btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedBeam(getDeformableDynamicsWorld()->getWorldInfo(), start_mode, num_modes);
 
         getDeformableDynamicsWorld()->addSoftBody(rsb);
         rsb->getCollisionShape()->setMargin(0.1);
diff --git a/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBodyHelpers.cpp b/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBodyHelpers.cpp
index 6652de989..9d2ba9510 100644
--- a/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBodyHelpers.cpp
+++ b/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBodyHelpers.cpp
@@ -4,6 +4,32 @@
 #include <string>
 #include <sstream>
 
+btReducedSoftBody* btReducedSoftBodyHelpers::createReducedBeam(btSoftBodyWorldInfo& worldInfo, const int start_mode, const int num_modes)
+{
+	std::string filepath("../../../examples/SoftDemo/beam/");
+	std::string filename = filepath + "mesh.vtk";
+	btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createFromVtkFile(worldInfo, filename.c_str());
+	
+	rsb->setReducedModes(start_mode, num_modes, rsb->m_nodes.size());
+	btVector3 half_extents(0.5, 0.25, 2);
+	btReducedSoftBodyHelpers::readReducedDeformableInfoFromFiles(rsb, filepath.c_str(), half_extents);
+
+	return rsb;
+}
+
+btReducedSoftBody* btReducedSoftBodyHelpers::createReducedCube(btSoftBodyWorldInfo& worldInfo, const int start_mode, const int num_modes)
+{
+	std::string filepath("../../../examples/SoftDemo/cube/");
+	std::string filename = filepath + "mesh.vtk";
+	btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createFromVtkFile(worldInfo, filename.c_str());
+	
+	rsb->setReducedModes(start_mode, num_modes, rsb->m_nodes.size());
+	btVector3 half_extents(0.5, 0.5, 0.5);
+	btReducedSoftBodyHelpers::readReducedDeformableInfoFromFiles(rsb, filepath.c_str(), half_extents);
+	
+	return rsb;
+}
+
 btReducedSoftBody* btReducedSoftBodyHelpers::createFromVtkFile(btSoftBodyWorldInfo& worldInfo, const char* vtk_file)
 {
 	std::ifstream fs;
@@ -112,7 +138,7 @@ btReducedSoftBody* btReducedSoftBodyHelpers::createFromVtkFile(btSoftBodyWorldIn
 	return rsb;
 }
 
-void btReducedSoftBodyHelpers::readReducedDeformableInfoFromFiles(btReducedSoftBody* rsb, const char* file_path)
+void btReducedSoftBodyHelpers::readReducedDeformableInfoFromFiles(btReducedSoftBody* rsb, const char* file_path, const btVector3& half_extents)
 {
 	// read in eigenmodes, stiffness and mass matrices
 	std::string eigenvalues_file = std::string(file_path) + "eigenvalues.bin";
@@ -135,7 +161,8 @@ void btReducedSoftBodyHelpers::readReducedDeformableInfoFromFiles(btReducedSoftB
 	
 	// calculate the inertia tensor in the local frame 
   btVector3 inertia(0, 0, 0);
-	calculateLocalInertia(inertia, rsb->getTotalMass(), btVector3(0.5, 0.25, 2), btVector3(0, 0, 0));
+	calculateLocalInertia(inertia, rsb->getTotalMass(), half_extents, btVector3(0, 0, 0));
+	// calculateLocalInertia(inertia, rsb->getTotalMass(), btVector3(0.5, 0.25, 2), btVector3(0, 0, 0));
 	// calculateLocalInertia(inertia, rsb->getTotalMass(), btVector3(0.5, 0.5, 0.5), btVector3(0, 0, 0));
 	rsb->setInertiaProps(inertia);
 
diff --git a/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBodyHelpers.h b/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBodyHelpers.h
index 38519e205..eab51809a 100644
--- a/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBodyHelpers.h
+++ b/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBodyHelpers.h
@@ -5,10 +5,15 @@
 
 struct btReducedSoftBodyHelpers
 {
+	// create a beam
+	static btReducedSoftBody* createReducedBeam(btSoftBodyWorldInfo& worldInfo, const int start_mode, const int num_modes);
+	// create a cube
+	static btReducedSoftBody* createReducedCube(btSoftBodyWorldInfo& worldInfo, const int start_mode, const int num_modes);
+
 	// read in geometry info from Vtk file
   static btReducedSoftBody* createFromVtkFile(btSoftBodyWorldInfo& worldInfo, const char* vtk_file);
 	// read in all reduced files
-	static void readReducedDeformableInfoFromFiles(btReducedSoftBody* rsb, const char* file_path);
+	static void readReducedDeformableInfoFromFiles(btReducedSoftBody* rsb, const char* file_path, const btVector3& half_extents);
 	// read in a binary vector
 	static void readBinary(btReducedSoftBody::tDenseArray& vec, const unsigned int n_start, const unsigned int n_modes, const unsigned int n_full, const char* file);
 	// read in a binary matrix