NVIDIA Kaolin library provides a PyTorch API for working with a variety of 3D representations and includes a growing collection of GPU-optimized operations such as modular differentiable rendering, fast conversions between representations, data loading, 3D checkpoints, differentiable camera API, differentiable lighting with spherical harmonics and spherical gaussians, powerful quadtree acceleration structure called Structured Point Clouds, interactive 3D visualizer for jupyter notebooks, convenient batched mesh container and more ... from GitHub repo - kaolin.
See this example from NVIDIA:
NVIDIA Kaolin library has introduced the SurfaceMesh class to make it easier to track attributes such as faces, vertices, normals, face_normals, and others associated with surface meshes.