How do I rotate my view using Java 3D?

Java 3D does not have a camera per se, but you can move the ViewPlatform, which moves your view into the world (and thus, appears to move the "camera"). More information on this distinction is available from a related java3d-interest mailing list post.

This java3d-interest mailing list post also contains additional information on how you can move the ViewPlatform in your code. An in depth discussion is available from my columns (search for "ViewPlatform" and "View" for more) at:
www.gamasutra.com/features/19990115/java3d_01.htm

and
www.gamasutra.com/features/19990122/java3d_02.htm

For more on keyboard navigation, please refer to the KeySample.java application developed by Markus Neifer on top of my com.javaworld.media.j3d.Example02 app. More information from Markus' java3d-interest announcement.