Can't find a way to set a volume/cube for the objects to move within the boundary

[ArghyaChatterjee]

Hello,

I am trying to set a boundary within which the object will move. I am basically using a script from dope repo:https://github.com/NVlabs/Deep_Object_Pose/blob/master/scripts/nvisii_data_gen/single_video_pybullet.py to randomly place the object within a boundary in front of the camera. I am having issues during setting the volume.

The red dot is the camera. Here is what I want to set for the object to move around. How to do that ??

[ArghyaChatterjee]

To add to this, I have been trying to see the object position distribution once it has created 200 ground truth samples. In the original script, the random function used for object movement is using uniform distribution.
.

It looks like the position of the object most of the time remain within:
xmin: -0.75, xmax: 0.75
ymin: -0.75, ymax: 0.75
zmin: 0.15, zmax: 2.0

Now, I want to mention that during the calculation, I excluded the samples which does not contain the object itself. So the distribution that you see is probably of 170-180 samples out of 200 (so, 20-30 samples don't include the object and as a result excluded from the distribution calculation) which have the object itself and the object ground truth pose can be read from the exported json file. Here are the object position limits for some other random batches that I produced
1st batch:
Maximum X: 0.7968071699142456
Minimum X: -0.5942803621292114
Maximum Y: 0.7744019627571106
Minimum Y: -0.669297456741333
Maximum Z: 1.9320124387741089
Minimum Z: 0.17937348783016205

2nd batch:
Maximum X: 0.7546935081481934
Minimum X: -0.7552196383476257
Maximum Y: 0.7662391662597656
Minimum Y: -0.7568234801292419
Maximum Z: 1.9336596727371216
Minimum Z: 0.1591675728559494

3rd batch:
Maximum X: 0.5945649743080139
Minimum X: -0.6916602849960327
Maximum Y: 0.6581659913063049
Minimum Y: -0.5869097113609314
Maximum Z: 1.7409515380859375
Minimum Z: 0.1563190221786499

4th batch:
Maximum X: 0.6954214572906494
Minimum X: -0.7661757469177246
Maximum Y: 0.7545489072799683
Minimum Y: -0.7764974236488342
Maximum Z: 1.9328440427780151
Minimum Z: 0.36330223083496094

5th batch:
Maximum X: 0.8227008581161499
Minimum X: -0.9358417987823486
Maximum Y: 0.8931193351745605
Minimum Y: -0.5309315919876099
Maximum Z: 2.2296056747436523
Minimum Z: 0.4827534556388855

6th batch:
Maximum X: 0.836432695388794
Minimum X: -0.32284748554229736
Maximum Y: 0.8445866107940674
Minimum Y: -0.8291597366333008
Maximum Z: 2.216597080230713
Minimum Z: 0.6940929293632507

Apart from the last 2, you can see there is a clear bias towards the limits that I mentioned earlier. I have confirmed with 20-30 times and the position limits remain within that boundary.

So, I wanted to know how to create that volume accurately so that I can see the object is moving (changing the position and orientation) within that specified cuboid volume.