How do I plot voxels from two numpy arrays

I have 2 NumPy arrays. One has (x,y,z) data and a shape of (1000,3). The other array has (r,g,b) data and a shape of (1000,3). I’m trying to plot it using voxels with plot_surface. I’m extremely new to matplotlib, so I’m not sure how to do this. Any help is greatly appreciated.

This isn’t an area I’m familiar with, but we do have a specific voxels method if that helps?