I think what you are looking for is the argument alpha
.
Example
df <- data.frame(x=c(1,3,-3,-2), y=c(2,5,2,1),z=c(1,7,4,1))
library(rgl)
open3d()
plot3d(df,col=3,type="p", radius=0.5)
plot3d(df,col=rgb(1,0,0.3),alpha=0.5, add=T,type="s",radius=1)