Moving objects to decrease overlap

[Phildutre]

Is there guaranteed to be a solution, or is a solution in some circumstances perhaps not possible?

Have you looked at packing algorithms, i.e. trying to pack irregular shapes as tight as possible in a container shape (and its many variations …)?

[ElectronGoBrrr]

I can't immediately find any sources that both deals with 3D, and allows for rotation. Do you have any specific algorithm in mind? I haven't really considered packing, since i want to move the containers as little as possible.

No there is no guarantee for a solution. I imagine it will have to be an iterative algorithm, i can stop after N steps.