diff --git a/src/slic3r/GUI/GLCanvas3D.cpp b/src/slic3r/GUI/GLCanvas3D.cpp
index 2f7d1a5c57..0e5ee1991f 100644
--- a/src/slic3r/GUI/GLCanvas3D.cpp
+++ b/src/slic3r/GUI/GLCanvas3D.cpp
@@ -805,6 +805,7 @@ GLCanvas3D::Selection::VolumeCache::TransformCache::TransformCache()
     , rotation_matrix(Transform3d::Identity())
     , scale_matrix(Transform3d::Identity())
     , mirror_matrix(Transform3d::Identity())
+    , full_matrix(Transform3d::Identity())
 {
 }
 
@@ -813,6 +814,7 @@ GLCanvas3D::Selection::VolumeCache::TransformCache::TransformCache(const Geometr
     , rotation(transform.get_rotation())
     , scaling_factor(transform.get_scaling_factor())
     , mirror(transform.get_mirror())
+    , full_matrix(transform.get_matrix())
 {
     rotation_matrix = Geometry::assemble_transform(Vec3d::Zero(), rotation);
     scale_matrix = Geometry::assemble_transform(Vec3d::Zero(), Vec3d::Zero(), scaling_factor);
@@ -1331,8 +1333,9 @@ void GLCanvas3D::Selection::rotate(const Vec3d& rotation, GLCanvas3D::Transforma
                 Vec3d new_rotation = Geometry::extract_euler_angles(m * m_cache.volumes_data[i].get_volume_rotation_matrix());
                 if (transformation_type.joint())
                 {
-                    Vec3d offset = m * (m_cache.volumes_data[i].get_volume_position() + m_cache.volumes_data[i].get_instance_position() - m_cache.dragging_center);
-                    volume.set_volume_offset(m_cache.dragging_center - m_cache.volumes_data[i].get_instance_position() + offset);
+                    Vec3d local_pivot = m_cache.volumes_data[i].get_instance_full_matrix().inverse() * m_cache.dragging_center;
+                    Vec3d offset = m * (m_cache.volumes_data[i].get_volume_position() - local_pivot);
+                    volume.set_volume_offset(local_pivot + offset);
                 }
                 volume.set_volume_rotation(new_rotation);
             }
diff --git a/src/slic3r/GUI/GLCanvas3D.hpp b/src/slic3r/GUI/GLCanvas3D.hpp
index 51a1e9213e..ae61558766 100644
--- a/src/slic3r/GUI/GLCanvas3D.hpp
+++ b/src/slic3r/GUI/GLCanvas3D.hpp
@@ -468,6 +468,7 @@ public:
                 Transform3d rotation_matrix;
                 Transform3d scale_matrix;
                 Transform3d mirror_matrix;
+                Transform3d full_matrix;
 
                 TransformCache();
                 explicit TransformCache(const Geometry::Transformation& transform);
@@ -487,6 +488,7 @@ public:
             const Transform3d& get_volume_rotation_matrix() const { return m_volume.rotation_matrix; }
             const Transform3d& get_volume_scale_matrix() const { return m_volume.scale_matrix; }
             const Transform3d& get_volume_mirror_matrix() const { return m_volume.mirror_matrix; }
+            const Transform3d& get_volume_full_matrix() const { return m_volume.full_matrix; }
 
             const Vec3d& get_instance_position() const { return m_instance.position; }
             const Vec3d& get_instance_rotation() const { return m_instance.rotation; }
@@ -495,6 +497,7 @@ public:
             const Transform3d& get_instance_rotation_matrix() const { return m_instance.rotation_matrix; }
             const Transform3d& get_instance_scale_matrix() const { return m_instance.scale_matrix; }
             const Transform3d& get_instance_mirror_matrix() const { return m_instance.mirror_matrix; }
+            const Transform3d& get_instance_full_matrix() const { return m_instance.full_matrix; }
         };
 
         typedef std::map<unsigned int, VolumeCache> VolumesCache;
diff --git a/src/slic3r/GUI/GLGizmo.cpp b/src/slic3r/GUI/GLGizmo.cpp
index 720da1c0f2..22023825f3 100644
--- a/src/slic3r/GUI/GLGizmo.cpp
+++ b/src/slic3r/GUI/GLGizmo.cpp
@@ -646,7 +646,7 @@ void GLGizmoRotate::transform_to_local(const GLCanvas3D::Selection& selection) c
 {
     ::glTranslated(m_center(0), m_center(1), m_center(2));
 
-    if (selection.is_single_volume() || selection.is_single_modifier())
+    if (selection.is_single_volume() || selection.is_single_modifier() || selection.requires_local_axes())
     {
         Transform3d orient_matrix = selection.get_volume(*selection.get_volume_idxs().begin())->get_instance_transformation().get_matrix(true, false, true, true);
         ::glMultMatrixd(orient_matrix.data());
@@ -703,7 +703,7 @@ Vec3d GLGizmoRotate::mouse_position_in_local_plane(const Linef3& mouse_ray, cons
     }
     }
 
-    if (selection.is_single_volume() || selection.is_single_modifier())
+    if (selection.is_single_volume() || selection.is_single_modifier() || selection.requires_local_axes())
         m = m * selection.get_volume(*selection.get_volume_idxs().begin())->get_instance_transformation().get_matrix(true, false, true, true).inverse();
 
     m.translate(-m_center);