Invert Rotation Issues
In Unity we have LHS instead of RHS used in imstk & opengl. Requiring inverting of the positions and orientations of a controller.
Currently inverting orientations does not work in imstk.
While invert Y is on take a tool (such as scissors, syringe, or needle) pointing down z. Rotate 90deg around global y. Then rotate 90deg around global x. You will see the incorrect orientation.