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Iam a newbie in pybullet. I need to implement a pouring simulation in which fluid in one tumbler is to be transferred to another. Since fluid simulation is not possible I used multiple small speres for simulation. I loaded a tumbler in pybullet and also loaded multiple spheres so that upon starting simulation spheres fall inside the tumbler. It was modelled similar to many spheres.py code. I used convex decomposition to make my urdf of tumbler hollow. But as simulation starts the spheres inside tumbler spills out through walls( tunnels through the tumbler walls) and also the tumbler starts to shiver. Is there a solution to this problem.