code: def scene_to_collision(scene):
      
      manager = CollisionManager()
      objects = {}
      for node in scene.graph.nodes_geometry:
          T, geometry = scene.graph[node]
          objects[node] = manager.add_object(name=node,
                                             mesh=scene.geometry[geometry],
                                             transform=T)
      return manager, objects
docs: Create collision objects from a trimesh.Scene object.
  
      Parameters
      ------------
      scene : trimesh.Scene
        Scene to create collision objects for
  
      Returns
      ------------
      manager : CollisionManager
        CollisionManager for objects in scene
      objects: {node name: CollisionObject}
        Collision objects for nodes in scene