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Good point. I added a test world to check simple rotation, and plotting

rxplot -p 5 "box_bumper/state/states[0]/total_wrench/force/x" "box_bumper/state/states[0]/total_wrench/force/y" "box_bumper/state/states[0]/total_wrench/force/z" "box1_bumper/state/states[0]/total_wrench/force/x" "box1_bumper/state/states[0]/total_wrench/force/y" "box1_bumper/state/states[0]/total_wrench/force/z"

to found that RotateVectorReverse() appears to be the correct call to make in all instances. Please test and let me know if you conclude similarly? Thanks.

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