code: def setup(self, mujoco_objects, table_top_offset, table_size):
          
          self.mujoco_objects = mujoco_objects
          self.n_obj = len(self.mujoco_objects)
          self.table_top_offset = table_top_offset
          self.table_size = table_size
docs: Args:
              Mujoco_objcts(MujocoObject * n_obj): object to be placed
              table_top_offset(float * 3): location of table top center
              table_size(float * 3): x,y,z-FULLsize of the table