diff --git a/examples/RobotSimulator/RobotSimulatorMain.cpp b/examples/RobotSimulator/RobotSimulatorMain.cpp
index ab5d78993..3e2dcd581 100644
--- a/examples/RobotSimulator/RobotSimulatorMain.cpp
+++ b/examples/RobotSimulator/RobotSimulatorMain.cpp
@@ -28,7 +28,8 @@ int main(int argc, char* argv[])
 		return -1;
 	}
 
-	sim->resetSimulation(RESET_USE_DEFORMABLE_WORLD);
+	// sim->resetSimulation(RESET_USE_DEFORMABLE_WORLD);
+	sim->resetSimulation(RESET_USE_REDUCED_DEFORMABLE_WORLD);
 
 	//Can also use eCONNECT_DIRECT,eCONNECT_SHARED_MEMORY,eCONNECT_UDP,eCONNECT_TCP, for example:
 	//sim->connect(eCONNECT_UDP, "localhost", 1234);
@@ -54,8 +55,8 @@ int main(int argc, char* argv[])
 	sim->loadURDF("plane.urdf");
 
 	{
-		// int deformableUID = sim->loadURDF("reduced_cube/reduced_cube.urdf");
-		int deformableUID = sim->loadURDF("reduced_cube/deform_cube.urdf");
+		int deformableUID = sim->loadURDF("reduced_cube/reduced_cube.urdf");
+		// int deformableUID = sim->loadURDF("reduced_cube/deform_cube.urdf");
 		// int deformableUID = sim->loadURDF("reduced_torus/reduced_torus.urdf");
 		// int deformableUID = sim->loadURDF("torus_deform.urdf");
 		btVector3 basePosition = btVector3(0, 0, 2);
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 2d2b20117..d9748c553 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -2725,24 +2725,26 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld(int flags)
 		m_data->m_broadphase = bv;
 	}
 
+#ifndef SKIP_DEFORMABLE_BODY
 	if (flags & RESET_USE_DEFORMABLE_WORLD)
 	{
-#ifndef SKIP_DEFORMABLE_BODY
 		// deformable
-		// m_data->m_deformablebodySolver = new btDeformableBodySolver();
-		// btDeformableMultiBodyConstraintSolver* solver = new btDeformableMultiBodyConstraintSolver;
-		// m_data->m_solver = solver;
-		// solver->setDeformableSolver(m_data->m_deformablebodySolver);
-		// m_data->m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, solver, m_data->m_collisionConfiguration, m_data->m_deformablebodySolver);
-
+		m_data->m_deformablebodySolver = new btDeformableBodySolver();
+		btDeformableMultiBodyConstraintSolver* solver = new btDeformableMultiBodyConstraintSolver;
+		m_data->m_solver = solver;
+		solver->setDeformableSolver(m_data->m_deformablebodySolver);
+		m_data->m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, solver, m_data->m_collisionConfiguration, m_data->m_deformablebodySolver);
+	}
+	else if (flags & RESET_USE_REDUCED_DEFORMABLE_WORLD)
+	{
 		// reduced deformable
 		m_data->m_reducedSoftBodySolver = new btReducedSoftBodySolver();
 		btDeformableMultiBodyConstraintSolver* solver = new btDeformableMultiBodyConstraintSolver;
 		m_data->m_solver = solver;
 		solver->setDeformableSolver(m_data->m_reducedSoftBodySolver);
 		m_data->m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, solver, m_data->m_collisionConfiguration, m_data->m_reducedSoftBodySolver);
-#endif
 	}
+#endif
 
 	
 
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index 2649fc44d..aab74a3ea 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -617,6 +617,7 @@ enum b3ResetSimulationFlags
 	RESET_USE_DEFORMABLE_WORLD=1,
 	RESET_USE_DISCRETE_DYNAMICS_WORLD=2,
 	RESET_USE_SIMPLE_BROADPHASE=4,
+	RESET_USE_REDUCED_DEFORMABLE_WORLD=8,
 };
 
 struct b3BodyNotificationArgs