diff --git a/samples/tcl/pathtrace_cube.tcl b/samples/tcl/pathtrace_cube.tcl
index ef6e0a22ab..1ef1b248cb 100644
--- a/samples/tcl/pathtrace_cube.tcl
+++ b/samples/tcl/pathtrace_cube.tcl
@@ -54,16 +54,14 @@ vbsdf s -absorpCoeff 6
 # setup first inner box
 box c 0.3 0.3 0.2
 vdisplay     -noupdate c
-vlocation    -noupdate c -setLocation 0.55 0.3 0.0
-vlocation    -noupdate c -rotate 0 0 0 0 0 1 -30
+vlocation    -noupdate c -reset -rotate 0 0 0 0 0 1 -30 -translate 0.55 0.3 0.0
 vsetmaterial -noupdate c plastic
 vbsdf c -kd 1.0 0.8 0.2 -ks 0.3 -n
 
 # setup second inner box
 box g 0.15 0.15 0.3
 vdisplay     -noupdate g
-vlocation    -noupdate g -setLocation 0.7 0.25 0.2
-vlocation    -noupdate g -rotate 0 0 0 0 0 1 10
+vlocation    -noupdate g -reset -rotate 0 0 0 0 0 1 10 -translate 0.7 0.25 0.2
 vsetmaterial -noupdate g glass
 vbsdf g -absorpColor 0.8 1.0 0.8
 vbsdf g -absorpCoeff 6
diff --git a/src/ViewerTest/ViewerTest_ObjectCommands.cxx b/src/ViewerTest/ViewerTest_ObjectCommands.cxx
index 3db6e673d5..e9638db994 100644
--- a/src/ViewerTest/ViewerTest_ObjectCommands.cxx
+++ b/src/ViewerTest/ViewerTest_ObjectCommands.cxx
@@ -3958,7 +3958,8 @@ static Standard_Integer VSetLocation (Draw_Interpretor& theDI,
       ++anArgIter;
       aContext->SetLocation (anObj, anObj2->LocalTransformation());
     }
-    else if (anArg == "-rotate")
+    else if (anArg == "-rotate"
+          || anArg == "-prerotate")
     {
       toPrintInfo = Standard_False;
       if (anArgIter + 7 >= theArgNb)
@@ -3977,10 +3978,18 @@ static Standard_Integer VSetLocation (Draw_Interpretor& theDI,
                                          Draw::Atof (theArgVec[anArgIter + 7]) * (M_PI / 180.0));
       anArgIter += 7;
 
-      aTrsf = anObj->LocalTransformation() * aTrsf;
+      if (anArg == "-prerotate")
+      {
+        aTrsf = anObj->LocalTransformation() * aTrsf;
+      }
+      else
+      {
+        aTrsf = aTrsf * anObj->LocalTransformation();
+     }
       aContext->SetLocation (anObj, aTrsf);
     }
-    else if (anArg == "-translate")
+    else if (anArg == "-translate"
+          || anArg == "-pretranslate")
     {
       toPrintInfo = Standard_False;
       gp_Vec aLocVec;
@@ -3994,10 +4003,18 @@ static Standard_Integer VSetLocation (Draw_Interpretor& theDI,
 
       gp_Trsf aTrsf;
       aTrsf.SetTranslationPart (aLocVec);
-      aTrsf = anObj->LocalTransformation() * aTrsf;
+      if (anArg == "-pretranslate")
+      {
+        aTrsf = anObj->LocalTransformation() * aTrsf;
+      }
+      else
+      {
+        aTrsf = aTrsf * anObj->LocalTransformation();
+      }
       aContext->SetLocation (anObj, aTrsf);
     }
     else if (anArg == "-scale"
+          || anArg == "-prescale"
           || anArg == "-setscale")
     {
       toPrintInfo = Standard_False;
@@ -4050,7 +4067,8 @@ static Standard_Integer VSetLocation (Draw_Interpretor& theDI,
 
       if (toPrintScale)
       {
-        if (anArg == "-setscale")
+        if (anArg == "-setscale"
+         || anArg == "-prescale")
         {
           Message::SendFail() << "Syntax error at '" << anArg << "'";
           return 1;
@@ -4081,17 +4099,25 @@ static Standard_Integer VSetLocation (Draw_Interpretor& theDI,
         if (hasScaleLoc)
         {
           aTrsf.SetScale (aScaleLoc, aScale);
+        }
+        else
+        {
+          aTrsf.SetScaleFactor (aScale);
+        }
+
+        if (anArg == "-prescale")
+        {
           aTrsf = anObj->LocalTransformation() * aTrsf;
         }
         else
         {
-          aTrsf = anObj->LocalTransformation();
-          aTrsf.SetScaleFactor (aTrsf.ScaleFactor() * aScale);
+          aTrsf = aTrsf * anObj->LocalTransformation();
         }
         aContext->SetLocation (anObj, aTrsf);
       }
     }
-    else if (anArg == "-mirror")
+    else if (anArg == "-mirror"
+          || anArg == "-premirror")
     {
       toPrintInfo = Standard_False;
       if (anArgIter + 6 >= theArgNb)
@@ -4108,7 +4134,14 @@ static Standard_Integer VSetLocation (Draw_Interpretor& theDI,
                                        Draw::Atof(theArgVec[theArgNb - 2]),
                                        Draw::Atof(theArgVec[theArgNb - 1]))));
       anArgIter += 6;
-      aTrsf = anObj->LocalTransformation() * aTrsf;
+      if (anArg == "-premirror")
+      {
+        aTrsf = anObj->LocalTransformation() * aTrsf;
+      }
+      else
+      {
+        aTrsf = aTrsf * anObj->LocalTransformation();
+      }
       aContext->SetLocation (anObj, aTrsf);
     }
     else if (anArg == "-setrotation"
@@ -4141,7 +4174,7 @@ static Standard_Integer VSetLocation (Draw_Interpretor& theDI,
                                      aQuatArgs[2].RealValue(),
                                      aQuatArgs[3].RealValue());
           gp_Trsf aTrsf = anObj->LocalTransformation();
-          aTrsf.SetRotation (aQuat);
+          aTrsf.SetRotationPart (aQuat);
           aContext->SetLocation (anObj, aTrsf);
           continue;
         }
@@ -6567,27 +6600,24 @@ void ViewerTest::ObjectCommands(Draw_Interpretor& theCommands)
 
   theCommands.Add ("vlocation",
                 "vlocation name"
-      "\n\t\t:   [-reset]"
-      "\n\t\t:   [-copyFrom otherName]"
-      "\n\t\t:   [-translate X Y [Z]]"
-      "\n\t\t:   [-rotate x y z dx dy dz angle]"
-      "\n\t\t:   [-scale [X Y Z] scale]"
-      "\n\t\t:   [-mirror x y z dx dy dz]"
-      "\n\t\t:   [-setLocation X Y [Z]]"
-      "\n\t\t:   [-setRotation QX QY QZ QW]"
-      "\n\t\t:   [-setScale [X Y Z] scale]"
-      "\n\t\t:   [-inheritParentTrsf {on|off}]"
+      "\n\t\t:   [-reset] [-copyFrom otherName]"
+      "\n\t\t:   [-translate    X Y [Z]] [-rotate    x y z dx dy dz angle] [-scale    [X Y Z] scale]"
+      "\n\t\t:   [-pretranslate X Y [Z]] [-prerotate x y z dx dy dz angle] [-prescale [X Y Z] scale]"
+      "\n\t\t:   [-mirror x y z dx dy dz] [-premirror x y z dx dy dz]"
+      "\n\t\t:   [-setLocation X Y [Z]] [-setRotation QX QY QZ QW] [-setScale [X Y Z] scale]"
       "\n\t\t: Object local transformation management:"
-      "\n\t\t:   -reset       reset transformation to identity"
-      "\n\t\t:   -translate   translate object"
-      "\n\t\t:   -rotate      applies rotation to local transformation"
-      "\n\t\t:   -scale       applies scale    to local transformation"
-      "\n\t\t:   -mirror      applies mirror   to local transformation"
-      "\n\t\t:   -setLocation assign object location"
-      "\n\t\t:   -setRotation assign object rotation (quaternion)"
-      "\n\t\t:   -setScale    assign object scale factor"
-      "\n\t\t:   -inheritParentTrsf option to inherit parent"
-      "\n\t\t:                transformation or not (ON by default)",
+      "\n\t\t:   -reset        resets transformation to identity"
+      "\n\t\t:   -translate    applies translation vector"
+      "\n\t\t:   -rotate       applies rotation around axis"
+      "\n\t\t:   -scale        applies scale factor with optional anchor"
+      "\n\t\t:   -mirror       applies mirror transformation"
+      "\n\t\t:   -pretranslate pre-multiplies translation vector"
+      "\n\t\t:   -prerotate    pre-multiplies rotation around axis"
+      "\n\t\t:   -prescale     pre-multiplies scale  transformation"
+      "\n\t\t:   -premirror    pre-multiplies mirror transformation"
+      "\n\t\t:   -setLocation  overrides translation part"
+      "\n\t\t:   -setRotation  overrides rotation part with specified quaternion"
+      "\n\t\t:   -setScale     overrides scale factor",
         __FILE__, VSetLocation, group);
   theCommands.Add ("vsetlocation",
                    "alias for vlocation",
diff --git a/src/gp/gp_Trsf.cxx b/src/gp/gp_Trsf.cxx
index 9a4e299de5..1ddf2eb304 100644
--- a/src/gp/gp_Trsf.cxx
+++ b/src/gp/gp_Trsf.cxx
@@ -129,6 +129,57 @@ void gp_Trsf::SetRotation (const gp_Quaternion& R)
   matrix = R.GetMatrix();
 }
 
+//=======================================================================
+//function : SetRotationPart
+//purpose  :
+//=======================================================================
+void gp_Trsf::SetRotationPart (const gp_Quaternion& theR)
+{
+  const bool hasRotation = !theR.IsEqual (gp_Quaternion());
+  if (hasRotation)
+  {
+    matrix = theR.GetMatrix();
+  }
+  else
+  {
+    matrix.SetIdentity();
+  }
+
+  switch (shape)
+  {
+    case gp_Identity:
+    {
+      if (hasRotation)
+      {
+        shape = gp_Rotation;
+      }
+      break;
+    }
+    case gp_Rotation:
+    {
+      if (!hasRotation)
+      {
+        shape = gp_Identity;
+      }
+      break;
+    }
+    case gp_Translation:
+    case gp_PntMirror:
+    case gp_Ax1Mirror:
+    case gp_Ax2Mirror:
+    case gp_Scale:
+    case gp_CompoundTrsf:
+    case gp_Other:
+    {
+      if (hasRotation)
+      {
+        shape = gp_CompoundTrsf;
+      }
+      break;
+    }
+  }
+}
+
 //=======================================================================
 //function : SetScale
 //purpose  : 
diff --git a/src/gp/gp_Trsf.hxx b/src/gp/gp_Trsf.hxx
index 82c15e91c1..5148d4d95b 100644
--- a/src/gp/gp_Trsf.hxx
+++ b/src/gp/gp_Trsf.hxx
@@ -110,13 +110,14 @@ public:
   //! A1 is the rotation axis and Ang is the angular value of the
   //! rotation in radians.
   Standard_EXPORT void SetRotation (const gp_Ax1& A1, const Standard_Real Ang);
-  
 
   //! Changes the transformation into a rotation defined by quaternion.
   //! Note that rotation is performed around origin, i.e.
   //! no translation is involved.
   Standard_EXPORT void SetRotation (const gp_Quaternion& R);
-  
+
+  //! Replaces the rotation part with specified quaternion.
+  Standard_EXPORT void SetRotationPart (const gp_Quaternion& R);
 
   //! Changes the transformation into a scale.
   //! P is the center of the scale and S is the scaling value.
diff --git a/tests/bugs/vis/bug25276 b/tests/bugs/vis/bug25276
index 85c14da691..45b4cd71cd 100644
--- a/tests/bugs/vis/bug25276
+++ b/tests/bugs/vis/bug25276
@@ -1,12 +1,9 @@
 puts "============"
-puts "OCC25276"
+puts "0025276: Visualization - Lighting is broken if some kinds of transformation applied to a shape"
 puts "============"
 puts ""
-#######################################################################
-# Visualization - Lighting is broken if some kinds of transformation applied to a shape
-#######################################################################
 
-pload ALL
+pload MODELING VISUALIZATION
 vinit
 box b1 1 6 1
 vsetdispmode 1
@@ -21,10 +18,10 @@ vconnect z1 0 0 0 z
 vlocation z1 -translate 10 0 0
 
 vconnect z2 0 10 0 z
-vlocation z2 -rotate 0 0 0 1 0 0 90
+vlocation z2 -prerotate 0 0 0 1 0 0 90
 
 vconnect z3 -10 0 0 z
-vlocation z3 -scale 0 0 0 0.5
+vlocation z3 -prescale 0 0 0 0.5
 
 vconnect z4 0 0 0 z
 vlocation z4 -copyFrom z3
diff --git a/tests/bugs/vis/bug31673 b/tests/bugs/vis/bug31673
new file mode 100644
index 0000000000..5454e4d7ba
--- /dev/null
+++ b/tests/bugs/vis/bug31673
@@ -0,0 +1,22 @@
+puts "============"
+puts "0031673: Draw Harness, ViewerTest - vlocation -rotate is applied in opposite order"
+puts "============"
+puts ""
+
+pload MODELING VISUALIZATION
+box b -1 -1 -1 2 2 2
+explode b F
+vclear
+vinit View1
+vdisplay -dispMode 0 b_1 b_3 b_4 b_6
+vdisplay -dispMode 1 b_2 b_5
+vfit
+vzoom 0.4
+vlocation b_2 -reset
+vlocation b_5 -reset
+vlocation b_2 -rotate  1 -1 -1 0 1 0 90
+vlocation b_2 -rotate -1 -1 -1 0 1 0 90
+vlocation b_5 -rotate -1 -1 -1 0 1 0 90
+if { [vreadpixel 170 380 -rgb -name] == "BLACK" } { puts "Error: wrong rotation" }
+
+vdump ${imagedir}/${casename}.png
diff --git a/tests/v3d/glsl/bndbox1 b/tests/v3d/glsl/bndbox1
index 61b8552299..67c36732ba 100644
--- a/tests/v3d/glsl/bndbox1
+++ b/tests/v3d/glsl/bndbox1
@@ -10,7 +10,7 @@ vaxo
 psphere s0 1
 psphere s1 1
 vdisplay -dispMode 1 s0 s1
-vlocation s1 -reset -translate 2 1 0 -rotate 0 0 0 1 0 0 20
+vlocation s1 -reset -rotate 0 0 0 1 0 0 20 -translate 2 1 0
 vfit
 vbounding
 
diff --git a/tests/v3d/raytrace/bug25221 b/tests/v3d/raytrace/bug25221
index 468a3663ce..08e8673b46 100644
--- a/tests/v3d/raytrace/bug25221
+++ b/tests/v3d/raytrace/bug25221
@@ -43,8 +43,7 @@ vmoveto 200 200
 vdump $imagedir/${casename}_faces_closeup.png
 
 # apply transformation
-vlocation s -rotate 0 0 0 0 0 1 10
-vlocation s -translate -30 0 0
+vlocation s -reset -translate -30 0 0 -rotate 0 0 0 0 0 1 10
 vmoveto 0 0
 vmoveto 200 200