import pybullet as p
import pybullet 
import time
p.connect(p.GUI)
p.loadURDF("toys/concave_box.urdf")
p.setGravity(0,0,-10)
for i in range (10):
	p.loadURDF("sphere_1cm.urdf",[i*0.02,0,0.5])
p.loadURDF("duck_vhacd.urdf")
timeStep = 1./240.
p.setTimeStep(timeStep)
while (1):
	p.stepSimulation()
	time.sleep(timeStep)