diff --git a/include/gz/rendering/base/BaseNode.hh b/include/gz/rendering/base/BaseNode.hh
index 43d02a601..c98eccde4 100644
--- a/include/gz/rendering/base/BaseNode.hh
+++ b/include/gz/rendering/base/BaseNode.hh
@@ -504,7 +504,7 @@ namespace gz
         return _pose;
       }
 
-      return _pose - parent->WorldPose();
+      return parent->WorldPose().Inverse() * _pose;
     }
 
     //////////////////////////////////////////////////