Yes, there is world space rotation, ex:
box2c.rotate(BABYLON.Axis.X, finalRotationX, BABYLON.Space.WORLD);
I did yet another PG based on your last one, which gets close to the rotation you want:
Rotations can easily become a real mess if not done right from the start, and using the same sequence and method.
One alternative way of doing those nasty rotations would be to use parenting. The parent TransformNode becomes your pivot then. You move you child object so that its pivot is centered on the parent and then you rotate the parent.
Anyway, you’re getting rotations around the pivot points already. What is messing now is the rotation order etc, I think.