Triangulated model rasterization: light-weight Python library
I've found VTK library and used bindings to Python  3 available from different Anaconda organizations: anaconda itself, conda-forge, clinicalgraphics and menpo.
Also it can be compiled from sources.

Works fast (I've rendered a mesh with half a million vertices without any problems) and easier in use than low-level OpenGL shaders with GLUT.

menpo has its own wrapper for VTK and mayavi called menpo3d.
I have not tried it yet, but examples look very simple.