diff --git a/examples/ReducedDeformableDemo/BasicTest.cpp b/examples/ReducedDeformableDemo/BasicTest.cpp
index a26a758c9..624a93a35 100644
--- a/examples/ReducedDeformableDemo/BasicTest.cpp
+++ b/examples/ReducedDeformableDemo/BasicTest.cpp
@@ -156,7 +156,7 @@ void BasicTest::initPhysics()
         getDeformableDynamicsWorld()->addSoftBody(rsb);
         rsb->getCollisionShape()->setMargin(0.1);
         // rsb->scale(btVector3(1, 1, 1));
-        rsb->translate(btVector3(0, 2, 0));  //TODO: add back translate and scale
+        // rsb->translate(btVector3(0, 2, 0));  //TODO: add back translate and scale
         // rsb->setTotalMass(0.5);
         rsb->setStiffnessScale(1);
         rsb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
diff --git a/examples/ReducedDeformableDemo/ModeVisualizer.cpp b/examples/ReducedDeformableDemo/ModeVisualizer.cpp
index c11502511..a24da5884 100644
--- a/examples/ReducedDeformableDemo/ModeVisualizer.cpp
+++ b/examples/ReducedDeformableDemo/ModeVisualizer.cpp
@@ -77,7 +77,7 @@ public:
 
       sim_time += deltaTime;
       int n_mode = floor(visualize_mode);
-      btScalar scale = sin(rsb->m_eigenvalues[n_mode] * sim_time / frequency_scale);
+      btScalar scale = sin(sqrt(rsb->m_eigenvalues[n_mode]) * sim_time / frequency_scale);
       getDeformedShape(rsb, n_mode, scale);
     }
     
@@ -136,7 +136,7 @@ void ModeVisualizer::initPhysics()
     {
       SliderParams slider("Visualize Mode", &visualize_mode);
       slider.m_minVal = 0;
-      slider.m_maxVal = num_modes;
+      slider.m_maxVal = num_modes - 1;
       if (m_guiHelper->getParameterInterface())
           m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
     }
diff --git a/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.cpp b/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.cpp
index bf564b024..281544d70 100644
--- a/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.cpp
+++ b/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.cpp
@@ -41,9 +41,9 @@ void btReducedSoftBody::setMassProps(const tDenseArray& mass_array)
   btScalar total_mass = 0;
 	for (int i = 0; i < m_nFull; ++i)
 	{
-		m_nodalMass[i] = mass_array[3 * i];
-		m_nodes[i].m_im = mass_array[3 * i] > 0 ? mass_array[3 * i] : 0;
-		total_mass += mass_array[3 * i];
+		m_nodalMass[i] = m_rhoScale * mass_array[3 * i];
+		m_nodes[i].m_im = mass_array[3 * i] > 0 ? 1.0 / (m_rhoScale * mass_array[3 * i]) : 0;
+		total_mass += m_rhoScale * mass_array[3 * i];
 	}
   // total rigid body mass
   m_mass = total_mass;
@@ -78,6 +78,11 @@ void btReducedSoftBody::setStiffnessScale(const btScalar ks)
   m_ksScale = ks;
 }
 
+void btReducedSoftBody::setMassScale(const btScalar rho)
+{
+  m_rhoScale = rho;
+}
+
 void btReducedSoftBody::predictIntegratedTransform(btScalar timeStep, btTransform& predictedTransform)
 {
 	btTransformUtil::integrateTransform(m_worldTransform, m_linearVelocity, m_angularVelocity, timeStep, predictedTransform);
@@ -155,7 +160,8 @@ void btReducedSoftBody::translate(const btVector3& trs)
   //     std::cout << m_nodes[i].m_x[k] << "\t" << m_x0[i][k] << "\n";
   
   // update rigid frame
-  // m_worldTransform.setOrigin(trs);
+  m_worldTransform.setOrigin(trs);
+  updateInertiaTensor();
 }
 
 void btReducedSoftBody::updateRestNodalPositions()
diff --git a/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.h b/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.h
index 60883c255..729e05397 100644
--- a/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.h
+++ b/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.h
@@ -74,6 +74,8 @@ class btReducedSoftBody : public btSoftBody
 
   void setStiffnessScale(const btScalar ks);
 
+  void setMassScale(const btScalar rho);
+
   virtual void translate(const btVector3& trs);
 
   void updateRestNodalPositions();
diff --git a/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBodySolver.cpp b/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBodySolver.cpp
index edc96219d..ab4daa441 100644
--- a/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBodySolver.cpp
+++ b/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBodySolver.cpp
@@ -5,6 +5,7 @@ btReducedSoftBodySolver::btReducedSoftBodySolver()
 {
   m_dampingAlpha = 0;
   m_dampingBeta = 0;
+  m_gravity = btVector3(0, 0, 0);
 }
 
 void btReducedSoftBodySolver::setDamping(btScalar alpha, btScalar beta)