Creating a box with a pole pointing according to Euler angles and position vectors

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Hello, thanks in advance,
I have some Euler angles in body frame and some position vectors in ECI. As you can see below, I have plotted a graph. I want to make a box or a rectangle of any dimension with a pole stuck to the end of the x-axis and put this into an animation. I can’t figure out how to proceed with this issue does anyone have any ideas?
Matlab command:
h = quiver3((r(1,:))',(r(2,:))',(r(3,:))',eulZYZ(:,1),eulZYZ(:,2),eulZYZ(:,3));
sample model.jpg

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