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