def METHOD_NAME(dae,scene_H_geom):
    for geom in dae.geometries:
        if( geom.id in scene_H_geom.keys() ):
            trans = scene_H_geom[geom.id];
            rot   = trans[0:3,0:3];
            pos   = trans[0:3,3];
            # The normal and vertices are shared among the different 
            # primitives, so it is ok to just run this on the first primitive
            primitiv = geom.primitives[0];
            for ind in range(0,len(primitiv.normal)):
                primitiv.normal[ind] = rot.dot(primitiv.normal[ind]);
            for ind in range(0,len(primitiv.vertex)):
                primitiv.vertex[ind] = rot.dot(primitiv.vertex[ind])+pos;
    return dae;