def METHOD_NAME(self, center, scale):
    """Set a random position, and for now constant orientation
    TODO: Random orientation
    """
    pos = center + (np.random.random(3) * scale)
    self.set_pose(
        pose=geometry_msgs.Pose(
            position=pos,
            orientation=(0.0, 0.0, 0.0, 1.0),
        )
    )