show_collision.py

import numpy as np
import trimesh

import pickpp


models = pickpp.datasets.YCBVideoModelDataset()
# cad_ids = models.get_cad_ids(class_id=15)
cad_ids = models.get_cad_ids(class_id=20)
visual_file = models.get_cad_file_from_id(cad_ids[0])
collision_file = pickpp.utils.get_collision_file(visual_file)

print(visual_file)
print(collision_file)

visual = trimesh.load(visual_file)
collision = trimesh.load(
    collision_file, split_object=True, group_material=False
)
if isinstance(collision, trimesh.Scene):
    for name, geometry in collision.geometry.items():
        geometry.visual.vertex_colors = np.random.random((3,))
else:
    collision.visual.vertex_colors = np.random.random((3,))

scene = trimesh.Scene()
scene.add_geometry(collision)
scene.show()