diff --git a/src/engine/engine_collision_sdf.c b/src/engine/engine_collision_sdf.c
index 65006785..0565cfcf 100644
--- a/src/engine/engine_collision_sdf.c
+++ b/src/engine/engine_collision_sdf.c
@@ -259,8 +259,8 @@ static void undoTransformation(const mjModel* m, const mjData* d, int g,
   mjtNum* xmat = d->geom_xmat + 9 * g;
   if (m->geom_type[g]==mjGEOM_MESH || m->geom_type[g]==mjGEOM_SDF) {
     mjtNum negpos[3], negquat[4], xquat[4];
-    mjtNum* pos = m->geom_pos + 3 * g;
-    mjtNum* quat = m->geom_quat + 4 * g;
+    mjtNum* pos = m->mesh_pos + 3 * m->geom_dataid[g];
+    mjtNum* quat = m->mesh_quat + 4 * m->geom_dataid[g];
     mju_mat2Quat(xquat, xmat);
     mju_negPose(negpos, negquat, pos, quat);
     mju_mulPose(sdf_xpos, sdf_quat, xpos, xquat, negpos, negquat);