How to control the consistency of obstacle, robot start, and goal position generation every time start start_arena.launch？

I want to generate the same obstacle, robot start, and goal position every time I start start_arena.launch in random mode.
I have tried to modify the seed parameter in the arena_bringup/configs/task_generator.yaml file, but it doesn't work!
I know that using the scenario mode will solve my problem, but I don't know how to generate the scenario file efficiently and quickly, I have thought of recording the data generated by random a few times and saving it as a scenario, but I failed

I use pedsim entity_manager, and here are my some start start_arena.launch params:

<!-- ___________ ARGS ___________ -->
<!-- You can launch a single robot and his local_planner with arguments -->
<arg name="model" default="burger" doc="robot model type [burger, jackal, ridgeback, agvota, rto, ...]" />
<arg name="inter_planner" default="bypass" doc="inter planner type [bypass, shortsighted, polite, aggressive, sideways]" />
<arg name="local_planner" default="rlca" doc="local planner type [teb, dwa, mpc, rlca, arena, rosnav, cohan]" />
<arg name="simulator" default="flatland" doc="[flatland, gazebo]" />
<arg name="headless" default="0" doc="0 = show all, 1 = show only rviz, 2 = show nothing" />
<env name="SIMULATOR" value="$(arg simulator)" />
<param name="headless" value="$(arg headless)" /> 

<arg name="entity_manager" default="pedsim" doc="[pedsim, flatland]" />
<arg name="pedsim" value="$(eval entity_manager == 'pedsim')" />
<env name="PEDSIM" value="$(arg pedsim)" />
<arg name="sfm" default="passthrough" doc="sfm for pedsim [passthrough, moonwalk]"/>

<arg name="complexity" default="1" doc="1 = Map known, Position known; 2 = Map known, Position unknown (AMCL); 3 = Map unknown, Position unknown (SLAM)" />

<arg name="agent_name" default="burger_AGENT_92_2024_04_24__18_34_08"     doc = "DRL agent name to be deployed" unless="$(eval arg('local_planner') != 'rosnav')" />
<!-- Or you can load a robot setup file to launch multiple robots in the same simulation -->
<!-- If the robot_setup_file is specified it is always loaded -->
<arg name="robot_setup_file" default="" doc="" />

<arg name="record_data" default="false" />
<arg name="record_data_dir" default="auto:" />
<param name="record_data_dir" type="str" value="$(arg record_data_dir)" if="$(eval arg('record_data'))"/>

<param name="robot_setup_file" value="$(arg robot_setup_file)" />
<param name="model" value="$(arg model)" />
<param name="inter_planner" value="$(arg inter_planner)"/>
<param name="local_planner" value="$(arg local_planner)"/>
<param name="agent_name" value="$(arg agent_name)" unless="$(eval arg('local_planner') != 'rosnav')"/>

<param name="complexity" value="$(arg complexity)" />

<arg name="tm_robots" default="random"/>
<arg name="tm_obstacles" default="random"/>
<arg name="tm_modules" default="" />
<arg name="benchmark_resume" default="false" />

<arg name="visualization" default="rviz" doc="[rviz, flatland]" />
<arg name="show_rviz" default="true" doc="Enables rviz in gazebo" />
<arg name="rviz_file" default="nav_flatland_s20d20"/>

<arg name="auto_reset" default="true"/>

<arg name="reset_remove_all" default="true" />
<param name="reset_remove_all" value="$(arg reset_remove_all)" />

<arg name="map_file" default="map_empty" 
doc="[
map_empty, map_empty_medium, aws_house, bookstore, arena_hawker_centre, 
experiment_room_2, experiment_room_3, experiment_room_4, ignc, 
map1_small, map_empty_small
]" />
<arg name="map_path" default="$(find arena_simulation_setup)/worlds/$(arg map_file)/map/map.yaml" />

<arg name="world_file" default="$(arg map_file)" doc="set to generated_world to replace occupancy map with obstacles and walls (NOT IMPLEMENTED YET)"/>

<!-- ___________ PARAMS ___________ -->
<param name="use_sim_time" value="true"/>
<param name="rosnav_move_base" value="true" />

Arena-Rosnav / arena-rosnav

How to control the consistency of obstacle, robot start, and goal position generation every time start start_arena.launch？ #183