The help page geom3d[transformation] describes the transformations that can be applied directly to a specific geometric object.

In general, to define a transformation without specifying the object to which the transformation is to be applied, use the ``verb'' form of the above transformations.

Using the function geom3d[inverse], one can compute the inverse of a given product of transformations, the function geom3d[transprod] converts a given transformation or product of transformations into a product of three ``primitive'' transformations (translate, rotate, and dilate), while the function geom3d[transform] is to apply the ``result'' transformation to a specific geometric object.