trimesh_voxel_grid.py

import trimesh
import numpy as np


voxel_size = 0.01  # 1cm
encoding = np.random.randint(0, 2, size=(32, 32, 32), dtype=bool)
colors = np.random.random((32, 32, 32, 3))
transform = trimesh.transformations.scale_and_translate(
    scale=voxel_size, translate=(0, 0, 0)
)
voxel_grid = trimesh.voxel.VoxelGrid(encoding=encoding, transform=transform)
geometry = voxel_grid.as_boxes(colors=colors)

# voxel_grid.show()
# geometry.show()
scene = trimesh.Scene()
scene.add_geometry(geometry)
scene.show()