Can anyone give me some hints/pseudocode on how to pick/select a single object to do indiviual rotation/translation among multiple object models on the screen?
Even I have read the red book, I still have no idea about that.

Forget selection. You were maybe misled by this term.
What you are going to do, is push the modelview matrix on the stack, set it to desired rot/tran values, and draw the object. After that pop the matrix, and again do that with the next object.
See glPushMatrix/glPopMatrix, and review the section on matrix manipulation on the specs.

Ops! Sorry maybe I misundertood your request… You wanna do selection, right? so the part on rotating things is not the question…?
Okay, enter the advanced forum, and look for some selection topic: it’s already there, with the info you need.