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I have a really hard time percieving depth on screen so after I move or rotate an objects it ends up anywhere but in the place I wanted. The problem with moving the object is easily solved by holing the axis and moving the object along it, but I can't find anything like this for rotating. Is there a setting or an addon I can use to have 3 orbits around the object so I can rotate them instead of directly rotating the object? I tried rotating objects while holding x/y/z, but that didn't help much.

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If you press R the object will rotate on the view axis. If you press R then X, the object will rotate on the X axis only. If you press R twice it will rotate on both axis except the view one. If you press R and then Shift + X it will rotate in both axis except X.

If you set the curve in the selector on the header of the 3D view you will have your "Rotators" around the object.

enter image description here

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Yes, the manipulator widget can be changed to rotate or scale. Look for three little buttons at in the 3D view header, a little left of center.
the manipulator widget buttons in the 3D view header
The button with the round curve will give you the rotation widget.

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