diff --git a/pkgs/development/python-modules/trimesh/default.nix b/pkgs/development/python-modules/trimesh/default.nix
new file mode 100644
index 00000000000..a65ea1e98ba
--- /dev/null
+++ b/pkgs/development/python-modules/trimesh/default.nix
@@ -0,0 +1,24 @@
+{ lib, buildPythonPackage, fetchPypi, numpy }:
+
+buildPythonPackage rec {
+  pname = "trimesh";
+  version = "3.6.36";
+
+  src = fetchPypi {
+    inherit pname version;
+    sha256 = "1m8dqqyzazrjk4d32cqn4d8gvbfcwgs2qbmgvpi2f2mi5vnp6d85";
+  };
+
+  propagatedBuildInputs = [ numpy ];
+
+  # tests are not included in pypi distributions and would require lots of
+  # optional dependencies
+  doCheck = false;
+
+  meta = with lib; {
+    description = "Python library for loading and using triangular meshes.";
+    homepage = "https://trimsh.org/";
+    license = licenses.mit;
+    maintainers = with maintainers; [ gebner ];
+  };
+}
diff --git a/pkgs/top-level/python-packages.nix b/pkgs/top-level/python-packages.nix
index e54a4e9fe45..c356700167e 100644
--- a/pkgs/top-level/python-packages.nix
+++ b/pkgs/top-level/python-packages.nix
@@ -1479,6 +1479,8 @@ in {
 
   transforms3d = callPackage ../development/python-modules/transforms3d { };
 
+  trimesh = callPackage ../development/python-modules/trimesh {};
+
   sentinel = callPackage ../development/python-modules/sentinel { };
 
   sentry-sdk = callPackage ../development/python-modules/sentry-sdk {};