code: def place_objects(self):
          
          pos_arr, quat_arr = self.initializer.sample()
          for i in range(len(self.objects)):
              self.objects[i].set("pos", array_to_string(pos_arr[i]))
              self.objects[i].set("quat", array_to_string(quat_arr[i]))
docs: Places objects randomly until no collisions or max iterations hit.