I would like to draw a parallelepiped in Python using matplotlib centred in (0,0,0), with the top face of a different color (or each face of a different parametrized color), and with these dimensions:

This is the code I developed to draw a cube with the same face color.

import matplotlib.pyplot as plt
import numpy as np

# Create axis
axes = [5, 5, 5]

# Create Data
data = np.ones(axes, dtype = np.bool)

# Control Tranperency
alpha = 0.9

# Control colour
colors = np.empty(axes + [4], dtype = np.float32)
colors[:] = [1, 0, 0, alpha] # red

# Plot figure
fig2 = plt.figure()
ax = fig2.add_subplot(111, projection='3d')
ax.voxels(data, facecolors=colors)

Any suggestion to modify it? Considering that I would like to rotate it with a rotation matrix/quaternion operator in a second time, it would be useful to define the coordinates of the vertices or of some ley points of the parallelepiped.
thank you all!