question about Home Assistant Benchmark

[yanan1116]

Hi there, in the Home Assistant Benchmark, for each task episode, you sample a ReplicaCAD layout with YCB objects randomly placed on feasible placement regions. objects are sampled from the ‘food’ and ‘kitchen’ YCB item categories in the YCB dataset.

My question is that is there any supported manner to sample a layout BUT NOT randomly place objects on feasible placement regions, which means that can I deliberately place objects on my desired places without any errors ?

My goal is to create a set of tasks where the layout is designed on my side.

If yes, how can I achieve that ? any references ?

Thanks.