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        "author": "Michael Dawson-Haggerty",
        "author_email": "mikedh@kerfed.com",
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        "classifiers": [
            "Development Status :: 4 - Beta",
            "License :: OSI Approved :: MIT License",
            "Natural Language :: English",
            "Programming Language :: Python",
            "Programming Language :: Python :: 2.7",
            "Programming Language :: Python :: 3.3",
            "Programming Language :: Python :: 3.4",
            "Programming Language :: Python :: 3.5",
            "Programming Language :: Python :: 3.6",
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        "description": "[![trimesh](https://trimsh.org/images/logotype-a.svg)](http://trimsh.org)\n\n-----------\n[![Github Actions](https://github.com/mikedh/trimesh/workflows/Release%20Trimesh/badge.svg)](https://github.com/mikedh/trimesh/actions)  [![PyPI version](https://badge.fury.io/py/trimesh.svg)](https://badge.fury.io/py/trimesh) [![codecov](https://codecov.io/gh/mikedh/trimesh/branch/main/graph/badge.svg?token=4PVRQXyl2h)](https://codecov.io/gh/mikedh/trimesh)\n\n\nTrimesh is a pure Python (2.7-3.4+) library for loading and using [triangular meshes](https://en.wikipedia.org/wiki/Triangle_mesh) with an emphasis on watertight surfaces. The goal of the library is to provide a full featured and well tested Trimesh object which allows for easy manipulation and analysis, in the style of the Polygon object in the [Shapely library](https://github.com/Toblerity/Shapely).\n\nThe API is mostly stable, but this should not be relied on and is not guaranteed: install a specific version if you plan on deploying something using trimesh.\n\nPull requests are appreciated and responded to promptly! If you'd like to contribute, here is an [up to date list of potential enhancements](https://github.com/mikedh/trimesh/issues/1557) although things not on that list are also welcome. Here are some [tips for writing applications and contributing.](https://github.com/mikedh/trimesh/blob/main/trimesh/CONTRIBUTING.md)\n\n\n## Basic Installation\n\nKeeping `trimesh` easy to install is a core goal, thus the *only* hard dependency is [numpy](http://www.numpy.org/). Installing other packages adds functionality but is not required. For the easiest install with just numpy, `pip` can generally install `trimesh` cleanly on Windows, Linux, and OSX:\n\n```bash\npip install trimesh\n```\n\nThe minimal install can load many supported formats (STL, PLY, GLTF/GLB) into numpy arrays. More functionality is available when soft dependencies are installed. This includes things like convex hulls (`scipy`), graph operations (`networkx`), faster ray queries (`pyembree`), vector path handling (`shapely` and `rtree`), XML formats like 3DXML/XAML/3MF (`lxml`), preview windows (`pyglet`), faster cache checks (`xxhash`), etc. To install `trimesh` with the soft dependencies that generally install cleanly on Linux, OSX, and Windows using `pip`:\n```bash\npip install trimesh[easy]\n```\n\nFurther information is available in the [advanced installation documentation](https://trimsh.org/install.html).\n\n## Quick Start\n\nHere is an example of loading a mesh from file and colorizing its faces. Here is a nicely formatted\n[ipython notebook version](https://trimsh.org/examples/quick_start.html) of this example. Also check out the [cross section example](https://trimsh.org/examples/section.html) or possibly the [integration of a function over a mesh example](https://github.com/mikedh/trimesh/blob/main/examples/integrate.ipynb).\n\n```python\nimport numpy as np\nimport trimesh\n\n# attach to logger so trimesh messages will be printed to console\ntrimesh.util.attach_to_log()\n\n# mesh objects can be created from existing faces and vertex data\nmesh = trimesh.Trimesh(vertices=[[0, 0, 0], [0, 0, 1], [0, 1, 0]],\n                       faces=[[0, 1, 2]])\n\n# by default, Trimesh will do a light processing, which will\n# remove any NaN values and merge vertices that share position\n# if you want to not do this on load, you can pass `process=False`\nmesh = trimesh.Trimesh(vertices=[[0, 0, 0], [0, 0, 1], [0, 1, 0]],\n                       faces=[[0, 1, 2]],\n                       process=False)\n\n# some formats represent multiple meshes with multiple instances\n# the loader tries to return the datatype which makes the most sense\n# which will for scene-like files will return a `trimesh.Scene` object.\n# if you *always* want a straight `trimesh.Trimesh` you can ask the\n# loader to \"force\" the result into a mesh through concatenation\nmesh = trimesh.load('models/CesiumMilkTruck.glb', force='mesh')\n\n# mesh objects can be loaded from a file name or from a buffer\n# you can pass any of the kwargs for the `Trimesh` constructor\n# to `trimesh.load`, including `process=False` if you would like\n# to preserve the original loaded data without merging vertices\n# STL files will be a soup of disconnected triangles without\n# merging vertices however and will not register as watertight\nmesh = trimesh.load('../models/featuretype.STL')\n\n# is the current mesh watertight?\nmesh.is_watertight\n\n# what's the euler number for the mesh?\nmesh.euler_number\n\n# the convex hull is another Trimesh object that is available as a property\n# lets compare the volume of our mesh with the volume of its convex hull\nprint(mesh.volume / mesh.convex_hull.volume)\n\n# since the mesh is watertight, it means there is a\n# volumetric center of mass which we can set as the origin for our mesh\nmesh.vertices -= mesh.center_mass\n\n# what's the moment of inertia for the mesh?\nmesh.moment_inertia\n\n# if there are multiple bodies in the mesh we can split the mesh by\n# connected components of face adjacency\n# since this example mesh is a single watertight body we get a list of one mesh\nmesh.split()\n\n# facets are groups of coplanar adjacent faces\n# set each facet to a random color\n# colors are 8 bit RGBA by default (n, 4) np.uint8\nfor facet in mesh.facets:\n    mesh.visual.face_colors[facet] = trimesh.visual.random_color()\n\n# preview mesh in an opengl window if you installed pyglet and scipy with pip\nmesh.show()\n\n# transform method can be passed a (4, 4) matrix and will cleanly apply the transform\nmesh.apply_transform(trimesh.transformations.random_rotation_matrix())\n\n# axis aligned bounding box is available\nmesh.bounding_box.extents\n\n# a minimum volume oriented bounding box also available\n# primitives are subclasses of Trimesh objects which automatically generate\n# faces and vertices from data stored in the 'primitive' attribute\nmesh.bounding_box_oriented.primitive.extents\nmesh.bounding_box_oriented.primitive.transform\n\n# show the mesh appended with its oriented bounding box\n# the bounding box is a trimesh.primitives.Box object, which subclasses\n# Trimesh and lazily evaluates to fill in vertices and faces when requested\n# (press w in viewer to see triangles)\n(mesh + mesh.bounding_box_oriented).show()\n\n# bounding spheres and bounding cylinders of meshes are also\n# available, and will be the minimum volume version of each\n# except in certain degenerate cases, where they will be no worse\n# than a least squares fit version of the primitive.\nprint(mesh.bounding_box_oriented.volume,\n      mesh.bounding_cylinder.volume,\n      mesh.bounding_sphere.volume)\n\n```\n\n## Features\n\n* Import meshes from binary/ASCII STL, Wavefront OBJ, ASCII OFF, binary/ASCII PLY, GLTF/GLB 2.0, 3MF, XAML, 3DXML, etc.\n* Import and export 2D or 3D vector paths from/to DXF or SVG files\n* Import geometry files using the GMSH SDK if installed (BREP, STEP, IGES, INP, BDF, etc)\n* Export meshes as binary STL, binary PLY, ASCII OFF, OBJ, GLTF/GLB 2.0, COLLADA, etc.\n* Export meshes using the GMSH SDK if installed (Abaqus INP, Nastran BDF, etc)\n* Preview meshes using pyglet or in- line in jupyter notebooks using three.js\n* Automatic hashing of numpy arrays for change tracking using MD5, zlib CRC, or xxhash\n* Internal caching of computed values validated from hashes\n* Calculate face adjacencies, face angles, vertex defects, etc.\n* Calculate cross sections, i.e. the slicing operation used in 3D printing\n* Slice meshes with one or multiple arbitrary planes and return the resulting surface\n* Split mesh based on face connectivity using networkx, graph-tool, or scipy.sparse\n* Calculate mass properties, including volume, center of mass, moment of inertia, principal components of inertia vectors and components\n* Repair simple problems with triangle winding, normals, and quad/tri holes\n* Convex hulls of meshes\n* Compute rotation/translation/tessellation invariant identifier and find duplicate meshes\n* Determine if a mesh is watertight, convex, etc.\n* Uniformly sample the surface of a mesh\n* Ray-mesh queries including location, triangle index, etc.\n* Boolean operations on meshes (intersection, union, difference) using OpenSCAD or Blender as a back end. Note that mesh booleans in general are usually slow and unreliable\n* Voxelize watertight meshes\n* Volume mesh generation (TETgen) using Gmsh SDK\n* Smooth watertight meshes using laplacian smoothing algorithms (Classic, Taubin, Humphrey)\n* Subdivide faces of a mesh\n* Minimum volume oriented bounding boxes for meshes\n* Minimum volume bounding spheres\n* Symbolic integration of functions over triangles\n* Calculate nearest point on mesh surface and signed distance\n* Determine if a point lies inside or outside of a well constructed mesh using signed distance\n* Primitive objects (Box, Cylinder, Sphere, Extrusion) which are subclassed Trimesh objects and have all the same features (inertia, viewers, etc)\n* Simple scene graph and transform tree which can be rendered (pyglet window, three.js in a jupyter notebook, [pyrender](https://github.com/mmatl/pyrender)) or exported.\n* Many utility functions, like transforming points, unitizing vectors, aligning vectors, tracking numpy arrays for changes, grouping rows, etc.\n\n\n## Viewer\n\nTrimesh includes an optional `pyglet` based viewer for debugging and inspecting. In the mesh view window, opened with `mesh.show()`, the following commands can be used:\n\n* `mouse click + drag` rotates the view\n* `ctl + mouse click + drag` pans the view\n* `mouse wheel` zooms\n* `z` returns to the base view\n* `w` toggles wireframe mode\n* `c` toggles backface culling\n* `g` toggles an XY grid with Z set to lowest point\n* `a` toggles an XYZ-RGB axis marker between: off, at world frame, or at every frame and world, and at every frame\n* `f` toggles between fullscreen and windowed mode\n* `m` maximizes the window\n* `q` closes the window\n\nIf called from inside a `jupyter` notebook, `mesh.show()` displays an in-line preview using `three.js` to display the mesh or scene. For more complete rendering (PBR, better lighting, shaders, better off-screen support, etc) [pyrender](https://github.com/mmatl/pyrender) is designed to interoperate with `trimesh` objects.\n\n## Projects Using Trimesh\n\nYou can check out the [Github network](https://github.com/mikedh/trimesh/network/dependents) for things using trimesh. A select few:\n- Nvidia's [kaolin](https://github.com/NVIDIAGameWorks/kaolin) for deep learning on 3D geometry.\n- [Cura](https://github.com/Ultimaker/Cura), a popular slicer for 3D printing.\n- Berkeley's [DexNet4](https://www.youtube.com/watch?v=GBiAxoWBNho&feature=emb_logo) and related [ambidextrous.ai](https://www.ambidextrous.ai/) work with robotic grasp planning and manipulation.\n- Kerfed's [Kerfed's Engine](https://kerfed.com/technology) for analyzing assembly geometry for manufacturing.\n- [MyMiniFactory's](https://www.myminifactory.com/) P2Slice for preparing models for 3D printing.\n- [pyrender](https://github.com/mmatl/pyrender) A library to render scenes from Python using nice looking PBR materials.\n- [urdfpy](https://github.com/mmatl/urdfpy) Load URDF robot descriptions in Python.\n- [moderngl-window](https://github.com/moderngl/moderngl-window) A helper to create GL contexts and load meshes.\n- [vedo](https://github.com/marcomusy/vedo) Visualize meshes interactively (see example [gallery](https://github.com/marcomusy/vedo/tree/master/examples/other/trimesh/)).\n- [fsleyes](https://users.fmrib.ox.ac.uk/~paulmc/fsleyes/userdoc/latest/quick_start.html) View MRI images and brain data.\n\n## Which Mesh Format Should I Use?\n\nQuick recommendation: `GLB` or `PLY`. Every time you replace `OBJ` with `GLB` an angel gets its wings.\n\nIf you want things like by-index faces, instancing, colors, textures, etc, `GLB` is a terrific choice. GLTF/GLB is an [extremely well specified](https://github.com/KhronosGroup/glTF/tree/master/specification/2.0) modern format that is easy and fast to parse: it has a JSON header describing data in a binary blob. It has a simple hierarchical scene graph, a great looking modern physically based material system, support in [dozens-to-hundreds of libraries](https://github.com/KhronosGroup/glTF/issues/1058), and a [John Carmack endorsment](https://www.khronos.org/news/press/significant-gltf-momentum-for-efficient-transmission-of-3d-scenes-models). Note that GLTF is a large specification, and `trimesh` only supports a subset of features: loading basic geometry is supported, NOT supported are fancier things like animations, skeletons, etc.\n\nIn the wild, `STL` is perhaps the most common format. `STL` files are extremely simple: it is basically just a list of triangles. They are robust and are a good choice for basic geometry. Binary `PLY` files are a good step up, as they support indexed faces and colors.\n\nWavefront `OBJ` is also pretty common: unfortunately OBJ doesn't have a widely accepted specification so every importer and exporter implements things slightly differently, making it tough to support. It also allows unfortunate things like arbitrary sized polygons, has a face representation which is easy to mess up, references other files for materials and textures, arbitrarily interleaves data, and is slow to parse. Give `GLB` or `PLY` a try as an alternative!\n\n## How can I cite this library?\n\nA question that comes up pretty frequently is [how to cite the library.](https://github.com/mikedh/trimesh/issues?utf8=1&q=cite) A quick BibTex recommendation:\n```\n@software{trimesh,\n\tauthor = {{Dawson-Haggerty et al.}},\n\ttitle = {trimesh},\n\turl = {https://trimsh.org/},\n\tversion = {3.2.0},\n\tdate = {2019-12-8},\n}\n```\n\n## Containers\n\nIf you want to deploy something in a container that uses trimesh automated `debian:slim-bullseye` based builds with trimesh and most dependencies are available on [Docker Hub](https://hub.docker.com/repository/docker/trimesh/trimesh) with image tags for `latest`, git short hash for the commit in `main` (i.e. `trimesh/trimesh:0c1298d`), and version (i.e. `trimesh/trimesh:3.5.27`):\n\n`docker pull trimesh/trimesh`\n\n[Here's an example](https://github.com/mikedh/trimesh/tree/main/examples/dockerRender) of how to render meshes using LLVMpipe and XVFB inside a container.\n\n\n\n",
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