Collision check of parts that are partially inside

[wzl-muenker]

Hey, I'm trying to built an Assembly Sequence Planning tool. I'm trying to use python-fcl for assemblies of multiple parts, which are imported via pythonocc. For the situation shown below I get a collision returned, even though no surfaces are in contact.

I'm not sure, whether the shown meshes are exactly the same as the BVHModels. I struggled using trimesh to visualize the BVHModels, so I displayed the triangles directly within pythonocc.

Can anyone provide a code snippet to visualy check the BVHModels?
Are there any options / workarounds to check collision for parts that are positioned inside other parts with fcl ?