I have a few questions for you.

1. It appears possible that you could rotate first and then translate. Is that correct? I mention it because the order matters.

2. I have no idea what your rotation vector is. Is that a rotation about the x, y, and z axes, respectively? Or Euler rotations?

What might help to determine the answer to question 2, if you don't already know the answer, is, if you have the option of querying the mission editor, to put in, say, a 90 degree rotation about the x axis with no translation, then one about the y axis with no translation, and finally one about the z axis with no translation. Then I can see better whether you're working in radians or degrees, and what each number means. Does that make sense?