diff --git a/src/slic3r/GUI/Gizmos/GLGizmoRotate.cpp b/src/slic3r/GUI/Gizmos/GLGizmoRotate.cpp
index f7951f97ca..345d733afd 100644
--- a/src/slic3r/GUI/Gizmos/GLGizmoRotate.cpp
+++ b/src/slic3r/GUI/Gizmos/GLGizmoRotate.cpp
@@ -238,13 +238,7 @@ void GLGizmoRotate::init_data_from_selection(const Selection& selection)
         selection.get_bounding_box_in_reference_system(ECoordinatesType::Local) : selection.get_bounding_box_in_current_reference_system();
     m_bounding_box = box;
     m_center = box_trafo.translation();
-    m_orient_matrix = Geometry::translation_transform(m_center);
-    if (!wxGetApp().obj_manipul()->is_world_coordinates() || m_force_local_coordinate) {
-        const GLVolume& v = *selection.get_first_volume();
-        m_orient_matrix = m_orient_matrix * v.get_instance_transformation().get_rotation_matrix();
-        if (selection.is_single_volume_or_modifier() && wxGetApp().obj_manipul()->is_local_coordinates() || m_force_local_coordinate)
-            m_orient_matrix = m_orient_matrix * v.get_volume_transformation().get_rotation_matrix();
-    }
+    m_orient_matrix = box_trafo;
 
     m_radius = Offset + m_bounding_box.radius();
     m_snap_coarse_in_radius = m_radius / 3.0f;
diff --git a/src/slic3r/GUI/Selection.cpp b/src/slic3r/GUI/Selection.cpp
index c6150ed68f..4e9ac43ea8 100644
--- a/src/slic3r/GUI/Selection.cpp
+++ b/src/slic3r/GUI/Selection.cpp
@@ -918,7 +918,7 @@ void Selection::translate(const Vec3d& displacement, TransformationType transfor
                 v.set_instance_offset(inst_trafo.get_offset() + inst_trafo.get_rotation_matrix() * displacement);
             }
             else
-                transform_instance_relative_world(v, volume_data, transformation_type, Geometry::translation_transform(displacement), m_cache.dragging_center);
+                transform_instance_relative(v, volume_data, transformation_type, Geometry::translation_transform(displacement), m_cache.dragging_center);
         }
         else {
             if (transformation_type.local() && transformation_type.absolute()) {
@@ -998,24 +998,24 @@ void Selection::rotate(const Vec3d& rotation, TransformationType transformation_
 
     assert(transformation_type.relative() || (transformation_type.absolute() && transformation_type.local()));
 
-    Transform3d rotation_matrix = Geometry::rotation_transform(rotation);
-
     for (unsigned int i : m_list) {
+        Transform3d rotation_matrix = Geometry::rotation_transform(rotation);
         GLVolume& v = *(*m_volumes)[i];
         const VolumeCache& volume_data = m_cache.volumes_data[i];
         const Geometry::Transformation& inst_trafo = volume_data.get_instance_transform();
         if (m_mode == Instance && !is_wipe_tower()) {
             assert(is_from_fully_selected_instance(i));
             if (transformation_type.instance()) {
-                const Vec3d world_inst_pivot = m_cache.dragging_center - inst_trafo.get_offset();
-                const Vec3d local_inst_pivot = inst_trafo.get_matrix_no_offset().inverse() * world_inst_pivot;
-                Matrix3d inst_rotation, inst_scale;
-                inst_trafo.get_matrix().computeRotationScaling(&inst_rotation, &inst_scale);
-                const Transform3d trafo = inst_trafo.get_rotation_matrix() * rotation_matrix;
-                v.set_instance_transformation(Geometry::translation_transform(world_inst_pivot) * inst_trafo.get_offset_matrix() * trafo * Transform3d(inst_scale) * Geometry::translation_transform(-local_inst_pivot));
+                // ensure that the instance rotates as a rigid body
+                const Transform3d inst_matrix_no_offset = inst_trafo.get_matrix_no_offset();
+                const Transform3d inst_rotation_matrix = inst_trafo.get_rotation_matrix();
+                rotation_matrix = inst_matrix_no_offset.inverse() * inst_rotation_matrix * rotation_matrix * inst_rotation_matrix.inverse() * inst_matrix_no_offset;
+
+                // rotate around selection center
+                const Vec3d inst_pivot = inst_trafo.get_matrix_no_offset().inverse() * (m_cache.dragging_center - inst_trafo.get_offset());
+                rotation_matrix = Geometry::translation_transform(inst_pivot) * rotation_matrix * Geometry::translation_transform(-inst_pivot);
             }
-            else
-                transform_instance_relative_world(v, volume_data, transformation_type, rotation_matrix, m_cache.dragging_center);
+            transform_instance_relative(v, volume_data, transformation_type, rotation_matrix, m_cache.dragging_center);
         }
         else {
             if (!is_single_volume_or_modifier()) {
@@ -1024,27 +1024,19 @@ void Selection::rotate(const Vec3d& rotation, TransformationType transformation_
             }
             else {
                 if (transformation_type.instance()) {
-                    // ensure proper sign of rotation for mirrored objects
-                    if (inst_trafo.is_left_handed() && !rotation.normalized().isApprox(Vec3d::UnitX()))
-                        rotation_matrix = rotation_matrix.inverse();
-
                     // ensure that the volume rotates as a rigid body
                     const Transform3d inst_scale_matrix = inst_trafo.get_scaling_factor_matrix();
                     rotation_matrix = inst_scale_matrix.inverse() * rotation_matrix * inst_scale_matrix;
                 }
                 else {
                     if (transformation_type.local()) {
-                        const Geometry::Transformation& vol_trafo = volume_data.get_volume_transform();
-                        const Geometry::Transformation world_trafo = inst_trafo * vol_trafo;
-                        // ensure proper sign of rotation for mirrored objects
-                        if (world_trafo.is_left_handed() && !rotation.normalized().isApprox(Vec3d::UnitX()))
-                            rotation_matrix = rotation_matrix.inverse();
-
                         // ensure that the volume rotates as a rigid body
-                        if (Geometry::TransformationSVD(world_trafo).anisotropic_scale) {
-                            const Transform3d inst_scale_matrix = inst_trafo.get_scaling_factor_matrix();
-                            rotation_matrix = inst_scale_matrix.inverse() * rotation_matrix * inst_scale_matrix;
-                        }
+                        const Geometry::Transformation& vol_trafo = volume_data.get_volume_transform();
+                        const Transform3d vol_matrix_no_offset = vol_trafo.get_matrix_no_offset();
+                        const Transform3d inst_scale_matrix = inst_trafo.get_scaling_factor_matrix();
+                        const Transform3d vol_rotation_matrix = vol_trafo.get_rotation_matrix();
+                        rotation_matrix = vol_matrix_no_offset.inverse() * inst_scale_matrix.inverse() * vol_rotation_matrix * rotation_matrix *
+                            vol_rotation_matrix.inverse() * inst_scale_matrix * vol_matrix_no_offset;
                     }
                 }
                 transform_volume_relative(v, volume_data, transformation_type, rotation_matrix, m_cache.dragging_center);
@@ -1458,7 +1450,7 @@ void Selection::scale_and_translate(const Vec3d& scale, const Vec3d& translation
                 v.set_instance_transformation(Geometry::translation_transform(world_inst_pivot) * offset_trafo * Transform3d(inst_rotation) * scale_trafo * Geometry::translation_transform(-local_inst_pivot));
             }
             else
-                transform_instance_relative_world(v, volume_data, transformation_type, Geometry::translation_transform(translation) * Geometry::scale_transform(relative_scale), m_cache.dragging_center);
+                transform_instance_relative(v, volume_data, transformation_type, Geometry::translation_transform(translation) * Geometry::scale_transform(relative_scale), m_cache.dragging_center);
         }
         else {
             if (!is_single_volume_or_modifier()) {
@@ -3331,16 +3323,21 @@ void Selection::paste_objects_from_clipboard()
 }
 
 #if ENABLE_WORLD_COORDINATE
-void Selection::transform_instance_relative_world(GLVolume& volume, const VolumeCache& volume_data, TransformationType transformation_type,
+void Selection::transform_instance_relative(GLVolume& volume, const VolumeCache& volume_data, TransformationType transformation_type,
     const Transform3d& transform, const Vec3d& world_pivot)
 {
     assert(transformation_type.relative());
-    assert(transformation_type.world());
 
     const Geometry::Transformation& inst_trafo = volume_data.get_instance_transform();
-    const Vec3d inst_pivot = transformation_type.independent() && !is_from_single_instance() ? inst_trafo.get_offset() : world_pivot;
-    const Transform3d trafo = Geometry::translation_transform(inst_pivot) * transform * Geometry::translation_transform(-inst_pivot);
-    volume.set_instance_transformation(trafo * inst_trafo.get_matrix());
+    if (transformation_type.world()) {
+        const Vec3d inst_pivot = transformation_type.independent() && !is_from_single_instance() ? inst_trafo.get_offset() : world_pivot;
+        const Transform3d trafo = Geometry::translation_transform(inst_pivot) * transform * Geometry::translation_transform(-inst_pivot);
+        volume.set_instance_transformation(trafo * inst_trafo.get_matrix());
+    }
+    else if (transformation_type.instance())
+        volume.set_instance_transformation(inst_trafo.get_matrix() * transform);
+    else
+        assert(false);
 }
 
 void Selection::transform_volume_relative(GLVolume& volume, const VolumeCache& volume_data, TransformationType transformation_type,
diff --git a/src/slic3r/GUI/Selection.hpp b/src/slic3r/GUI/Selection.hpp
index 4c818f30ce..eb69d44919 100644
--- a/src/slic3r/GUI/Selection.hpp
+++ b/src/slic3r/GUI/Selection.hpp
@@ -516,7 +516,7 @@ private:
     void paste_objects_from_clipboard();
 
 #if ENABLE_WORLD_COORDINATE
-    void transform_instance_relative_world(GLVolume& volume, const VolumeCache& volume_data, TransformationType transformation_type,
+    void transform_instance_relative(GLVolume& volume, const VolumeCache& volume_data, TransformationType transformation_type,
         const Transform3d& transform, const Vec3d& world_pivot);
     void transform_volume_relative(GLVolume& volume, const VolumeCache& volume_data, TransformationType transformation_type,
         const Transform3d& transform, const Vec3d& world_pivot);