Framed@
Graphics3D[
Rotate[GraphicsGroup
[{
{Opacity[.1], Cuboid[{-w/2, -d/2, -h/2}, {w/2, d/2, h/2}]},
{Red, Arrow[{{0, 0, 0}, {.6, 0, 0}}]},
Text["x", {.65, 0, 0}],
{Red, Arrow[{{0, 0, 0}, {0, .6, 0}}]},
Text["y", {0, .65, 0}],
{Red, Arrow[{{0, 0, 0}, {0, 0, .6}}]},
Text["z", {0, 0, .65}],
Sphere[{0, 0, 0}, .02]
}], thetax, {0, 0, 1}
],
Axes -> False, AxesLabel -> {"x", "y", "z"}, PlotRange -> {{-.6, .6}, {-.6, .6}, {-.6, .6}},
SphericalRegion -> True, Boxed -> False, ImagePadding -> 2, ImageSize -> 400