How to hold figure position with figure caption in pdf output of knitr?

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For me adding the float package and then \floatplacement{figure}{H} in YAML solved the issue like :

---
title: "test"
date: "`r Sys.Date()`"
output: 
  pdf_document :
    keep_tex: true
    number_sections: true
header-includes:
 \usepackage{booktabs}
 \usepackage{longtable}
 \usepackage{array}
 \usepackage{multirow}
 \usepackage[table]{xcolor}
 \usepackage{wrapfig}
 \usepackage{float}
 \floatplacement{figure}{H}
---

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