Is there any proof that "God created mankind to live on earth"? Is that a fact, or a mere belief?

I believe the God Yahweh prepared the planet Earth to support mankind and all the other creatures on planet Earth long before He knew He was creating us. I believe the creation story is Yahweh's record of preparing Earth for the new modern era of creatures that He was about to create and let inhabit planet Earth. I believe He knew things had to be different on Earth to support this new life than it was in prehistoric time that the dinosaurs lived in.