diff --git a/data/reduced_torus/reduced_torus.urdf b/data/reduced_torus/reduced_torus.urdf
index b4bb4035b..b7ec162c0 100644
--- a/data/reduced_torus/reduced_torus.urdf
+++ b/data/reduced_torus/reduced_torus.urdf
@@ -9,6 +9,6 @@
     <cfm value= "0.2"/>
     <friction value= "0.5"/>
     <damping_coefficient value="0.00001"/>
-    <visual filename="torus_mesh.vtk"/>
+    <visual filename="torus_mesh_visual.vtk"/>
   </reduced_deformable>
 </robot>
diff --git a/data/reduced_torus/torus_mesh_visual.vtk b/data/reduced_torus/torus_mesh_visual.vtk
new file mode 100644
index 000000000..a06ef2061
--- /dev/null
+++ b/data/reduced_torus/torus_mesh_visual.vtk
@@ -0,0 +1,9917 @@
+# vtk DataFile Version 2.0
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diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.cpp b/examples/Importers/ImportURDFDemo/UrdfParser.cpp
index ce03e1c16..f03c7610f 100644
--- a/examples/Importers/ImportURDFDemo/UrdfParser.cpp
+++ b/examples/Importers/ImportURDFDemo/UrdfParser.cpp
@@ -1288,7 +1288,7 @@ bool UrdfParser::parseReducedDeformable(UrdfModel& model, tinyxml2::XMLElement*
 	const char* name = config->Attribute("name");
 	if (!name)
 	{
-		logger->reportError("Deformable with no name");
+		logger->reportError("Reduced deformable with no name");
 		return false;
 	}
 	reduced_deformable.m_name = name;
@@ -1422,6 +1422,7 @@ bool UrdfParser::parseReducedDeformable(UrdfModel& model, tinyxml2::XMLElement*
 		return false;
 	}
 
+	// collision mesh is optional
 	XMLElement* col_xml = config->FirstChildElement("collision");
 	if (col_xml)
 	{
@@ -1430,9 +1431,9 @@ bool UrdfParser::parseReducedDeformable(UrdfModel& model, tinyxml2::XMLElement*
 			logger->reportError("expected a filename for collision geoemtry");
 			return false;
 		}
-		fn = vis_xml->Attribute("filename");
+		fn = col_xml->Attribute("filename");
 		success = UrdfFindMeshFile(m_fileIO,
-								   model.m_sourceFile, fn, sourceFileLocation(vis_xml),
+								   model.m_sourceFile, fn, sourceFileLocation(col_xml),
 								   &reduced_deformable.m_simFileName, &out_type);
 
 		if (!success)
diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.h b/examples/Importers/ImportURDFDemo/UrdfParser.h
index d0325d22b..126285fc2 100644
--- a/examples/Importers/ImportURDFDemo/UrdfParser.h
+++ b/examples/Importers/ImportURDFDemo/UrdfParser.h
@@ -264,11 +264,11 @@ struct UrdfReducedDeformable
 
 	UrdfReducedDeformable() 
 		:	m_numModes(1),
+			m_mass(1),
+			m_stiffnessScale(100),
 			m_erp(0.2),					// generally, 0.2 is a good value for erp and cfm
 			m_cfm(0.2),
 			m_friction(0),
-			m_mass(1),
-			m_stiffnessScale(100),
 			m_collisionMargin(0.02),
 			m_damping(0),
 			m_visualFileName(""),