def METHOD_NAME(self):
    runs = 0
    while (not rospy.is_shutdown()) and (runs < self.num_runs):
        self.set_pose(
            pose=geometry_msgs.Pose(
                position=geometry_msgs.Vector3(
                    (np.random.random() * 15) - 7.5,
                    (np.random.random() * 15) - 7.5,
                    (np.random.random() * 7) - 9,  # Z must be <= 2!
                )
            )
        )
        self.set_target((0.0, 0.0, -5.0))
        self.cur_state_history = []
        rospy.sleep(self.time_limit)
        self.all_histories.append(np.vstack(self.cur_state_history))
        runs += 1
    if self.do_plot:
        self.plot()