An example, for a cylinder
CreateMeshbuilder,
Cylinder, 6, 0.1, 0.1, 0.2,
Translate, 5, 1, -4.2,
Rotate, 1,0,0,90,
SetColor, 255,0,0,
GenerateNormals,
Let's see if I can remember it correctly.
Cylinder, S, A, B, L,
S - the number of corners of a cylinder. The more, the smoother the circle, but more demanding on the computer.
A and B - the radii of the cylinder, one for each end, so you can actually make a cone shape with it.
L - the length of the cylinder.
Translate, X, Y, Z,
Movement along X, Y, Z axises.
Rotate, this I'm not very sure, but I believe the first 3 values are for X,Y,Z. 0 means no, 1 means yes. The last number is the rotation angle. If you specified yes for one of the axis, then you will be able rotate it that angle for that axis. I used trial and error for that part.
It's the same for cubes. Only you have the replace the word "Cylinder" with another word. Forgot what it was. Probably "cube".