You can register a callback function for collision events. If each of these 10 objects has collide notify enabled:
Code:
<node3D>.enable( viz.COLLIDE_NOTIFY )
then whenever a collision happens with one of those objects the function will get called. Then you can check to see if the second node passed with the event object is the box:
Code:
#Called when two objects collide in the physics simulator
def onCollide(e):
#Did object collide with box?
if e.obj2 == box1:
#Do something
viz.callback( viz.COLLIDE_BEGIN_EVENT, onCollide )