To open the Rotate tool, double-click on "Rotate" in the Toolbox.

To interactively rotate selected points, LMB Drag in any Camera View while Rotate is the Current Tool. As you drag the mouse, any selected points will be rotated around the two axes that aren’t Active. To rotatedefinition_translate@definitions.hlp selected points around the Active Axis, hold down either control-key while you LMB Drag.

Alternatively, you can rotatedefinition_translate@definitions.hlp points in specific angles by entering values in the Angle X, Y, Z controls.