diff --git a/gazebo/physics/ode/ODEPhysics.cc b/gazebo/physics/ode/ODEPhysics.cc
index 9bf474a4e7..87739a2a7f 100644
--- a/gazebo/physics/ode/ODEPhysics.cc
+++ b/gazebo/physics/ode/ODEPhysics.cc
@@ -894,10 +894,7 @@ void ODEPhysics::Collide(ODECollision *_collision1, ODECollision *_collision2,
   if (fd != math::Vector3::Zero)
   {
     // fdir1 is in body local frame, rotate it into world frame
-    /// \TODO: once issue #624 is fixed, switch to below:
-    /// fd = _collision1->GetWorldPose().rot.RotateVector(fd);
-    fd = (_collision1->GetRelativePose() +
-      _collision1->GetLink()->GetWorldPose()).rot.RotateVector(fd.Normalize());
+    fd = _collision1->GetWorldPose().rot.RotateVector(fd);
   }
 
   /// \TODO: Better treatment when both surfaces have fdir1 specified.
@@ -912,10 +909,8 @@ void ODEPhysics::Collide(ODECollision *_collision1, ODECollision *_collision2,
         _collision1->GetSurface()->mu1 > _collision2->GetSurface()->mu1))
   {
     // fdir1 is in body local frame, rotate it into world frame
-    /// \TODO: once issue #624 is fixed, switch to below:
-    /// fd2 = _collision2->GetWorldPose().rot.RotateVector(fd2);
-    fd = (_collision2->GetRelativePose() +
-      _collision2->GetLink()->GetWorldPose()).rot.RotateVector(fd2.Normalize());
+    fd2 = _collision2->GetWorldPose().rot.RotateVector(fd2);
+
     /// \TODO: uncomment gzlog below once we confirm it does not affect
     /// performance
     /// if (fd2 != math::Vector3::Zero && fd != math::Vector3::Zero &&