Python 如何旋转长方体？

我的代码：

##defining to plot the cuboid
def plot_cuboid(center, size):
    """
   Create a data array for cuboid plotting.
   ============= ================================================
   Argument      Description
   ============= ================================================
   center        center of the cuboid, triple
   size          size of the cuboid, triple, (x_length,y_width,z_height)
   :type size: tuple, numpy.array, list
   :param size: size of the cuboid, triple, (x_length,y_width,z_height)
   :type center: tuple, numpy.array, list
   :param center: center of the cuboid, triple, (x,y,z)
   """

    # suppose axis direction: x: to left; y: to inside; z: to upper
    # get the (left, outside, bottom) point
    ox, oy, oz = center
    l, w, h = size

    ##defining the points
    x = np.linspace(ox-l/2,ox+l/2,num=10)
    y = np.linspace(oy-w/2,oy+w/2,num=10)
    z = np.linspace(oz-h/2,oz+h/2,num=10)

    ## defining surfaces and extrude them
    x1, z1 = np.meshgrid(x, z)
    y11 = np.ones_like(x1)*(oy-w/2)
    y12 = np.ones_like(x1)*(oy+w/2)
    x2, y2 = np.meshgrid(x, y)
    z21 = np.ones_like(x2)*(oz-h/2)
    z22 = np.ones_like(x2)*(oz+h/2)
    y3, z3 = np.meshgrid(y, z)
    x31 = np.ones_like(y3)*(ox-l/2)
    x32 = np.ones_like(y3)*(ox+l/2)

    ax = fig.gca(projection='3d') ##plot the project cuboid

    #plot outside surface
    ax.plot_surface(x1, y11, z1, color='red', rstride=1, cstride=1, alpha=0.6)
    #plot inside surface
    ax.plot_surface(x1, y12, z1, color='white', rstride=1, cstride=1, alpha=0.6)
    #plot bottom surface
    ax.plot_surface(x2, y2, z21, color='blue', rstride=1, cstride=1, alpha=0.6)
    #plot upper surface
    ax.plot_surface(x2, y2, z22, color='black', rstride=1, cstride=1, alpha=0.6)
    #plot left surface
    ax.plot_surface(x31, y3, z3, color='green', rstride=1, cstride=1, alpha=0.6)
    #plot right surface
    ax.plot_surface(x32, y3, z3, color='pink', rstride=1, cstride=1, alpha=0.6)

    ## Add title 
    plt.title('Plot_for_PSM', fontsize=20)

    ##labelling the axes
    ax.set_xlabel('X')
    ax.set_ylabel('Y')
    ax.set_zlabel('Z')

如何将长方体相对于x轴旋转30度，相对于y轴旋转60度，相对于z轴旋转20度（这些是欧拉角）

所有的单位都是米。按照所附图片中的代码。你能添加必要的步骤，我的代码是前进和写最后的代码，并给我请。以下是使用上述程序形成的长方体图像：

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您可能希望使用旋转矩阵将形状旋转指定角度

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我已经获得了一个旋转矩阵。旋转矩阵=[[array（[[1.]]）array（[[-0.]]）array（[[0.]]）][array（[-0.]]）array（[-1.]]）array（[[0.]]）array（[-0.]]）array（[-0.]]）array（[[-1.]]）array（[-1.]]）现在如何进一步进行这个答案根本解决不了问题。

center =(2.1,-0.1,0.757761) 
length=0.3, 
width=0.4, 
height=0.1