Expected behavior of setObjectPoses?

I think I remember seeing somewhere online (I tried to track down the source again but I couldn't) that setObjectPoses() should only allow 'valid' poses (ex: objects not colliding with each other). Is this true? Is there an automated way currently built in (otherwise, I can manually check for collisions)?

Thinking about cases like below where the box is halfway into the wall but `controller.last_event.metadata["lastActionSuccess"]` is True.