How to render a COLLADA model on the server?

Question

3D

Good afternoon,
I need to implement a functionality for creating panoramas at different points of huge static models of the COLLADA format (models of industrial plants from a CAD system). In addition to the usual cube map, it is also necessary to render the depth view and object-id.
Rendering should be completely programmatic, since there are no 3D accelerators on servers (windows / linux) and in batch-mode (without GUI).
Object-id must be 16 bits or more, since there are about 200.000 - 400.000 objects in the model.
At the moment, the only solution I see is writing a crutch using OpenSceneGraph and mesa3d off-screen rendering.
Question: Is there a ready-made product (free) or components that can implement this task?