Milwaukee Repertory Theater’s Venus in Fur is a scintillating foray into topics risqué, comedic and ultimately deeply relational. Exploring the psychology of BDSM, Venus is the story of a director auditioning an actress for the leading role in his adaptation of Leopold von Sacher-Masoch’s 1870 novella Venus in Furs. The action begins at the end of a long day of disappointing auditions when Vonda (Greta Wohlrabe), seemingly just another ditzy, ill-prepared actress, bursts into the theater to read for Thomas (Reese Madigan). Wohlrabe delivers a masterful performance, deftly flitting between her two characters of modern actress and 19th-century aristocrat. Madigan is convincing as a self-assured artist whose fundamental beliefs about his work and himself are gradually deconstructed.