def setup(self, mujoco_objects, table_top_offset, table_size):
        """
        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
        """
        self.mujoco_objects = mujoco_objects
        self.n_obj = len(self.mujoco_objects)
        self.table_top_offset = table_top_offset
        self.table_size = table_size