code: import pybullet as p
  import time
  import numpy as np
  objects = ['apple', 'orange', 'banana', 'milk', 'orange']
  p.connect(p.GUI)
  p.setGravity(0, 0, -9.8)
  #planeId = p.loadURDF("plane.urdf", [0, 0, 0])
  TableId = p.loadURDF("table/table.urdf", [0.45, 0.35, -0.65])
  indyId= p.loadURDF("indy7.urdf", [0, 0, 0])
  num_obj = len(objects)
  obj_postions = np.random.rand(num_obj,2)
  z_postion = np.empty(num_obj); z_postion.fill(0.2)
  obj_postions = np.c_[ obj_postions, z_postion ] 
  print(obj_postions)
  for object in objects:
      obj_path = "models/urdf/"+object+".urdf"
      objId = p.loadURDF(obj_path, obj_postions[-1,])
      obj_postions = np.delete(obj_postions, -1, 0)
  #appleId = p.loadURDF("models/urdf/apple.urdf", [-0.4, 0, 0.1])
  
  
  viewMatrix = p.computeViewMatrix(
      cameraEyePosition=[0, 0, 3],
      cameraTargetPosition=[0, 0, 0],
      cameraUpVector=[0, 1, 0])
  projectionMatrix = p.computeProjectionMatrixFOV(
      fov=45.0,
      aspect=1.0,
      nearVal=0.1,
      farVal=3.1)
  width, height, rgbImg, depthImg, segImg = p.getCameraImage(
      width=224, 
      height=224,
      viewMatrix=viewMatrix,
      projectionMatrix=projectionMatrix)
  p.resetBasePositionAndOrientation(indyId, [0, 0, 0.03], [0, 0, 0, 1])
  p.setRealTimeSimulation(1) 
  time.sleep(1000)
  p.disconnect()
apis: numpy.empty numpy.random.rand numpy.delete