diff --git a/OdeWorld.cc b/OdeWorld.cc
index 2e569ab..e20897e 100644
--- a/OdeWorld.cc
+++ b/OdeWorld.cc
@@ -151,7 +151,6 @@ dGeomID OdeWorld::addCube(const string & name, bool static_data,
     dGeomID id = dCreateBox(m_space, args[0], args[1], args[2]);
     dMass mass;
     dMassSetBox(&mass, 1.0, args[0], args[1], args[2]);
-    dMassTranslate(&mass, args[3], args[4], args[5]);
     setupGeom(name, static_data, body, id, &mass,
             args[3], args[4], args[5],
             args[6], args[7], args[8]);
@@ -166,7 +165,6 @@ dGeomID OdeWorld::addSphere(const string & name, bool static_data,
     dGeomID id = dCreateSphere(m_space, args[0]);
     dMass mass;
     dMassSetSphere(&mass, 1.0, args[0]);
-    dMassTranslate(&mass, args[1], args[2], args[3]);
     setupGeom(name, static_data, body, id, &mass,
             args[1], args[2], args[3],
             0.0, 0.0, 0.0);
@@ -181,7 +179,6 @@ dGeomID OdeWorld::addCylinder(const string & name, bool static_data,
     dGeomID id = dCreateCylinder(m_space, args[0], args[1]);
     dMass mass;
     dMassSetCylinder(&mass, 1.0, 3, args[0], args[1]);
-    dMassTranslate(&mass, args[2], args[3], args[4]);
     setupGeom(name, static_data, body, id, &mass,
             args[2], args[3], args[4],
             args[5], args[6], args[7]);
@@ -196,7 +193,6 @@ dGeomID OdeWorld::addCCylinder(const string & name, bool static_data,
     dGeomID id = dCreateCCylinder(m_space, args[0], args[1]);
     dMass mass;
     dMassSetCappedCylinder(&mass, 1.0, 3, args[0], args[1]);
-    dMassTranslate(&mass, args[2], args[3], args[4]);
     setupGeom(name, static_data, body, id, &mass,
             args[2], args[3], args[4],
             args[5], args[6], args[7]);
@@ -230,6 +226,8 @@ void OdeWorld::setupGeom(const std::string & name, bool static_data,
         dRFromEulerAngles(rot, rotx, roty, rotz);
         dGeomSetRotation(geom, rot);
 
+        dMassRotate(mass, rot);
+        dMassTranslate(mass, locx, locy, locz);
         dMass origmass;
         dBodyGetMass(*body, &origmass);
         dMassAdd(&origmass, mass);