diff --git a/dart/dynamics/SoftBodyNode.cpp b/dart/dynamics/SoftBodyNode.cpp
index 424e88a831816..71dcd8c200f28 100644
--- a/dart/dynamics/SoftBodyNode.cpp
+++ b/dart/dynamics/SoftBodyNode.cpp
@@ -1192,12 +1192,13 @@ void SoftBodyNodeHelper::setBox(SoftBodyNode*            _softBodyNode,
 
   for (int i = 0; i < 3; ++i)
   {
-    if (frags[i] == 2)
+    if (frags[i] <= 2)
     {
       dtwarn << "Invalid property of soft body '" << _softBodyNode->getName()
              << "'. "
-             << "The number of vertices of each soft box edge should be "
-             << "equal to or greater than 3. It's set to 3."
+             << "The number of vertices assigned to soft box edge #" << i
+             << " is " << frags[i] << ", but it must be greater than or "
+             << "equal to 3. We will set it to 3."
              << std::endl;
       frags[i] = 3;
     }
diff --git a/dart/utils/sdf/SoftSdfParser.cpp b/dart/utils/sdf/SoftSdfParser.cpp
index e87fd81030b21..0c2b343dab8a1 100644
--- a/dart/utils/sdf/SoftSdfParser.cpp
+++ b/dart/utils/sdf/SoftSdfParser.cpp
@@ -276,7 +276,7 @@ dynamics::Skeleton* SoftSdfParser::readSkeleton(
       dynamics::FreeJoint* newFreeJoint = new dynamics::FreeJoint;
 
       newFreeJoint->setTransformFromParentBodyNode(
-            bodyNode->getTransform());
+            sdfBodyNodes[i].initTransform);
       newFreeJoint->setTransformFromChildBodyNode(
             Eigen::Isometry3d::Identity());