code: def hull_points(obj, qhull_options='QbB Pp'):
      
      if hasattr(obj, 'convex_hull'):
          return obj.convex_hull.vertices
  
      initial = np.asanyarray(obj, dtype=np.float64)
      if len(initial.shape) != 2:
          raise ValueError('points must be (n, dimension)!')
  
      hull = spatial.ConvexHull(initial, qhull_options=qhull_options)
      points = hull.points[hull.vertices]
  
      return points
docs: Try to extract a convex set of points from multiple input formats.
  
      Parameters
      ---------
      obj: Trimesh object
           (n,d) points
           (m,) Trimesh objects
  
      Returns
      --------
      points: (o,d) convex set of points