custom subset of the household objects database

edit

Is it possible to use the household objects database with a custom objects set? What I mean is to use the same objects already in the database but instead of loading all of them to be able to specify which subset I want (by giving a list of model ids). Right now the only options that I know of are "REDUCED_MODEL_SET" and "" which gives me all the objects in the database

Here is an example of a part of a launch file where this is set.

  <include file="$(find tabletop_object_detector)/launch/tabletop_node.launch"/>
  <param name="/tabletop_node/use_database" value="true"/>
  <param name="/tabletop_node/model_set" value="REDUCED_MODEL_SET" />
  <param name="/tabletop_node/get_model_list_srv" value="/objects_database_node/get_model_list" />
  <param name="/tabletop_node/get_model_mesh_srv" value="/objects_database_node/get_model_mesh" />

  <node pkg="tabletop_collision_map_processing" name="tabletop_collision_map_processing"
        type="tabletop_collision_map_processing_node" respawn="false" output="screen"/>
  <param name="tabletop_collision_map_processing/get_model_mesh_srv"
         value="/objects_database_node/get_model_mesh" />