For the robot spawn position, this thread is relevant:
For the joint configuration, I’d also like to know more. What we know is that we’ll see the target port from the robot’s initial TCP pose. But it would be very useful to know the randomization range of that initial TCP pose, if any. Because we’d have to consider seeing the taskboard from a range of angles (e.g. from the side) at startup. So, we’d also like to know: will the TCP start pose be randomized?