diff --git a/dartsim/src/SDFFeatures.cc b/dartsim/src/SDFFeatures.cc
index 62eeebd03..8c9375fd1 100644
--- a/dartsim/src/SDFFeatures.cc
+++ b/dartsim/src/SDFFeatures.cc
@@ -417,15 +417,7 @@ Identity SDFFeatures::ConstructSdfLink(
   const math::Inertiald &sdfInertia = _sdfLink.Inertial();
   bodyProperties.mInertia.setMass(sdfInertia.MassMatrix().Mass());
 
-  // TODO(addisu) Resolve the pose of inertials when frame information is
-  // availabile for math::Inertial
-  const Eigen::Matrix3d R_inertial{
-        math::eigen3::convert(sdfInertia.Pose().Rot())};
-
-  const Eigen::Matrix3d I_link =
-      R_inertial
-      * math::eigen3::convert(sdfInertia.Moi())
-      * R_inertial.inverse();
+  const Eigen::Matrix3d I_link = math::eigen3::convert(sdfInertia.Moi());
 
   bodyProperties.mInertia.setMoment(I_link);