If you're new to Python
A VPython tutorial
Pictures of 3D objects
What's new in VPython 6
Rotating an Object
Objects other than curve, convex, faces, and points can be rotated about a specified origin (to rotate these other objects, put them in a frame and rotate the frame).
obj.rotate(angle=pi/4, axis=axis, origin=pos)
The rotate function applies a transformation to the specified object (sphere, box, etc.). The transformation is a rotation of angle radians, counterclockwise around the line defined by origin and origin+axis. By default, rotations are around the object's own pos and axis. There are no defaults for the extrusion object, and one must specify all parameters: angle, axis, and origin.
There are functions for converting between degrees and radians, where there are 2*pi radians in 360 degrees:
radians(360) is equal to 2*pi
degrees(2*pi) is equal to 360
Also see the rotation function available for vectors.