To manually orient a joint’s local axes
in the Status
Line to turn on the component selection mode.
in the Status Line.
-click
the Select Miscellaneous components icon
and turn on Local Rotation Axes in the
menu that appears.

For information on using the Rotate Tool, see Rotate Tool.
rotate -r -os 180 0 0;
This command rotates the current joint’s local axes 180 degrees about its X-axis.