Transformation : translation and rotation

The meshes in the library are derived from THREE.Mesh in most cases. And the matrix transformations, for translation and rotation of objects applies.Read more about matrix transformations

cyl = new MRPTLIB.model.CCylinder();
m = new THREE.Matrix4();
m.setPosition(new THREE.Vector3(x,y,z));
m.setRotationFromQuaternion(quaternion);
cyl.applyMatrix(m);