diff --git a/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.cpp b/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.cpp
index 9587d2638..0afde723b 100644
--- a/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.cpp
+++ b/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.cpp
@@ -140,4 +140,19 @@ void btReducedSoftBody::applyImpulse(const btVector3& impulse, const btVector3&
       applyTorqueImpulse(rel_pos.cross(impulse * m_linearFactor));
     }
   }
+}
+
+void btReducedSoftBody::applyFullSpaceImpulse(const btVector3& target_vel, int n_node, btScalar dt, tDenseArray& reduced_force)
+{
+  // impulse leads to the deformation in the reduced space
+  btVector3 impulse = m_nodalMass[n_node] / dt * (target_vel - m_nodes[n_node].m_v);
+  for (int i = 0; i < m_nReduced; ++i)
+  {
+    for (int k = 0; k < 3; ++k)
+    {
+      reduced_force[i] += m_modes[i][3 * n_node + k] * impulse[k];
+    }
+  }
+  // impulse causes rigid motion
+  applyImpulse(impulse, m_nodes[n_node].m_x);
 }
\ No newline at end of file
diff --git a/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.h b/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.h
index 58a7df1c3..40b5b4385 100644
--- a/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.h
+++ b/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.h
@@ -83,7 +83,11 @@ class btReducedSoftBody : public btSoftBody
 
 	void applyTorqueImpulse(const btVector3& torque);
 
+  // apply impulse to the rigid frame
 	void applyImpulse(const btVector3& impulse, const btVector3& rel_pos);
+  
+  // apply impulse to nodes in the full space
+  void applyFullSpaceImpulse(const btVector3& target_vel, int n_node, btScalar dt, tDenseArray& reduced_force);
 
   void proceedToTransform(const btTransform& newTrans);
 
diff --git a/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBodySolver.cpp b/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBodySolver.cpp
index f9c1c3cf2..024c022e7 100644
--- a/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBodySolver.cpp
+++ b/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBodySolver.cpp
@@ -25,63 +25,41 @@ void btReducedSoftBodySolver::applyForce()
     reduced_force.resize(rsb->m_reducedDofs.size(), 0);
 
     // add internal force (elastic force & damping force)
-    for (int r = 0; r < rsb->m_reducedDofs.size(); ++r) {
+    for (int r = 0; r < rsb->m_reducedDofs.size(); ++r) 
+    {
       // map all force to reduced
       // for (int i = 0; i < force.size(); ++i)
       // 	for (int k = 0; k < 3; ++k)
       // 		reduced_force[r] += scale * rsb->m_modes[r][3 * i + k] * force[i][k];
 
-      // std::cout << reduced_force[r] << '\t';
-
       reduced_force[r] += rsb->m_Kr[r] * (rsb->m_reducedDofs[r] + 0.1 * rsb->m_reducedVelocity[r]);
-      // std::cout << reduced_force[r] << '\n';
-      // std::cout << rsb->m_Kr[r] << "\t" << rsb->m_reducedDofs[r] << "\n";
     }
 
-
     // apply impulses to reduced deformable objects
     static btScalar sim_time = 0;
-    static btScalar target_vel = 1;
     static int apply_impulse = 0;
     if (rsb->m_reducedModel && apply_impulse < 4)
     {
-      btScalar f_imp = 0;
-      btVector3 imp(0, 0, 0);
       if (sim_time > 1 && apply_impulse == 0) 
       {
-        f_imp = rsb->m_nodalMass[0] * (target_vel - rsb->m_nodes[0].m_v[1]) / m_dt;
-        imp[1] = f_imp;
+        rsb->applyFullSpaceImpulse(btVector3(0, 1, 0), 0, m_dt, reduced_force);
         apply_impulse++;
-        std::cout << "hit" << f_imp << "\n";
       }
       if (sim_time > 2 && apply_impulse == 1) 
       {
-        f_imp = - 1.2 * rsb->m_nodalMass[0] * (target_vel - rsb->m_nodes[0].m_v[1]) / m_dt;
-        imp[1] = f_imp;
+        rsb->applyFullSpaceImpulse(btVector3(0, -1, 0), 0, m_dt, reduced_force);
         apply_impulse++;
-        std::cout << "hit2" << f_imp << "\n";
       }
       if (sim_time > 3 && apply_impulse == 2) 
       {
-        f_imp = 1 * rsb->m_nodalMass[0] * (target_vel - rsb->m_nodes[0].m_v[0]) / m_dt;
-        imp[2] = f_imp;
+        rsb->applyFullSpaceImpulse(btVector3(1, 0, 0), 0, m_dt, reduced_force);
         apply_impulse++;
-        std::cout << "hit3" << f_imp << "\n";
       }
       if (sim_time > 4 && apply_impulse == 3) 
       {
-        f_imp = -1.1 * rsb->m_nodalMass[0] * (target_vel - rsb->m_nodes[0].m_v[0]) / m_dt;
-        imp[2] = f_imp;
+        rsb->applyFullSpaceImpulse(btVector3(-1, 0, 0), 0, m_dt, reduced_force);
         apply_impulse++;
-        std::cout << "hit4" << f_imp << "\n";
       }
-      for (int i = 0; i < rsb->m_reducedDofs.size(); ++i)
-      {
-        reduced_force[i] += rsb->m_modes[i][0 * 3 + 1] * f_imp;
-      }
-
-      
-      rsb->applyImpulse(imp, rsb->m_nodes[0].m_x);
     }
 
     // update reduced velocity