voxel create_from_triangle_mesh

voxel1.py

import numpy as np
import open3d as o3d
import open3d_tutorial as o3dtut

#get mesh data
bunny = o3d.data.BunnyMesh()
mesh  = o3d.io.read_triangle_mesh(bunny.path)

#visualize mesh
mesh.scale(1 / np.max(mesh.get_max_bound() - mesh.get_min_bound()),
           center=mesh.get_center())
o3d.visualization.draw_geometries([mesh])

#create voxel grid from mesh
voxel_grid = o3d.geometry.VoxelGrid.create_from_triangle_mesh(mesh,
                                                              voxel_size=0.05)
#visualize voxel grid
o3d.visualization.draw_geometries([voxel_grid])