You can place objects from the Symbols using drag and drop.
Procedure
Open the Symbols bar if it is not already open by clicking Symbols.
The Symbols bar provides object symbols, graphic objects, and text for insertion into the modeling area. It also allows you to filter the available object symbols by entering names and create connections between objects.
Click the object symbol you want to place and hold down the mouse button.
Drag the mouse pointer to the position you want to place the object in the modeling area. If you have enabled Guided Modeling, lines and arrows inform you of the orientation and distance of the dragged object from adjacent items.
Release the mouse button. The object is placed and its name is selected for overwriting.